pyrobot/0040755000076400003100000000000010745440762012250 5ustar dblankfacultypyrobot/index.php0100755000076400003100000000566410427772356014107 0ustar dblankfaculty "Pyro", "Software" => "PyroSoftware", "Curriculum" => "PyroCurriculum", "Hardware" => "PyroHardware", "Community" => "PyroCommunity", "What's New" => "PyroWhatsNew", "Publications" => "PyroPublications", "Search" => "FindPage" ); ?> $title: $page"; ?> $value) { if ($page == $value) { // active page print ""; } else { // another page is active if (substr($value, 0, 7) == "http://") { print ""; } else { print ""; } } } ?>
[ $key ][ $key ][ $key ]
\n"; print "
\n$text\n\n"; } else { $wikiparser = new WikiParser(); $wikiparser->setURL("${home}?page="); print "

"; print $wikiparser->html($bodytext); } } else { print "
"; print "Page does not yet exist"; } print "
"; print ""; foreach ($buttons as $key => $value) { if ($page == $value) { // active page print ""; } else { // another page is active if (substr($value, 0, 7) == "http://") { print ""; } else { print ""; } } } ?>
[ $key ][ $key ][ $key ]

CreativeCommons View Wiki Source | "; print "Edit Wiki Source (requires login, which anyone can do) | "; print "
Webmaster@${homename}"; ?>
pyrobot/ai/0040755000076400003100000000000010270502706012627 5ustar dblankfacultypyrobot/ai/__init__.py0100755000076400003100000000000007627023362014736 0ustar dblankfacultypyrobot/ai/gaqueens.py0100755000076400003100000000465210260524105015014 0ustar dblankfacultyfrom pyrobot.brain.ga import * def safe_queen(new_row, new_col, sol): for row in range(new_row): if (sol[row] == new_col or sol[row] + row == new_col + new_row or sol[row] - row == new_col - new_row): return 0 return 1 def fitness(sol): set = [] row = 0 sum = 0 for col in sol: set.append( col ) if col < 0 or col >= len(sol): return 0 sum += safe_queen( row, col, set) row += 1 previous = -1 for col in sol: # see how far apart each is, normalize, add to sum if previous == -1: bonus = 0.0 else: bonus += abs(col - previous) previous = col return sum + 1 - (bonus / ((len(sol) - 1) * len(sol))) #return sum class GAQueens(GA): def fitnessFunction(self, genePos): return fitness( self.pop.individuals[genePos].genotype) def isDone(self): self.pop.bestMember.display() fit = fitness( self.pop.bestMember.genotype) print "Best Fitness:", fit return fit == len(self.pop.bestMember.genotype) class MyGene(Gene): def display(self): for row in range(len(self.genotype)): for col in self.genotype: if col == row: print "X", else: print ".", print "" if __name__ == '__main__': ga = GAQueens(Population(300, MyGene, size = 16, mode = 'integer', max = 16,min = 0, maxStep = 1, verbose = 1, elitePercent = .01, crossoverPoints = 0), verbose = 1, mutateRate = .3, crossoverRate = .75) ga.evolve() # after 83 generations: # mygene = MyGene(size = 16) # mygene.data = [8, 1, 7, 13, 6, 0, 9, 5, 12, 15, 3, 10, 2, 14, 11, 4] # mygene.display() # # . . . . . X . . . . . . . . . . # . X . . . . . . . . . . . . . . # . . . . . . . . . . . . X . . . # . . . . . . . . . . X . . . . . # . . . . . . . . . . . . . . . X # . . . . . . . X . . . . . . . . # . . . . X . . . . . . . . . . . # . . X . . . . . . . . . . . . . # X . . . . . . . . . . . . . . . # . . . . . . X . . . . . . . . . # . . . . . . . . . . . X . . . . # . . . . . . . . . . . . . . X . # . . . . . . . . X . . . . . . . # . . . X . . . . . . . . . . . . # . . . . . . . . . . . . . X . . # . . . . . . . . . X . . . . . . pyrobot/ai/queens.py0100755000076400003100000000213707627023362014514 0ustar dblankfacultydef n_queens(n, width): if n == 0: return [[]] else: return add_queen(n-1, width, n_queens(n-1, width)) def add_queen(new_row, width, previous_solutions): solutions = [] for sol in previous_solutions: for new_col in range(width): if safe_queen(new_row, new_col, sol): solutions.append(sol + [new_col]) return solutions def safe_queen(new_row, new_col, sol): for row in range(new_row): if (sol[row] == new_col or sol[row] + row == new_col + new_row or sol[row] - row == new_col - new_row): return 0 return 1 def check_solution(sol): set = [] row = 0 for col in sol: set.append( col ) if not safe_queen( row, col, set): return 0 row += 1 return 1 def fitness(sol): set = [] row = 0 sum = 0 for col in sol: set.append( col ) if col < 0: return 0 sum += safe_queen( row, col, set) row += 1 return sum if __name__ == '__main__': for sol in n_queens(8, 8): print sol pyrobot/wikiparser.php0100644000076400003100000004467210405701520015134 0ustar dblankfacultyRedirect" . "Please go here..\n"; exit; } if (! $page) { if ($_SERVER["argv"][0]) { $page = $_SERVER["argv"][0]; } else { $page = "FrontPage"; } } if ($page == "RecentChanges" || $page == "FindPage" || $page == "WikiSandBox" || $page == "HelpIndex" ) { url("http://emergent.brynmawr.edu/index.cgi/" . $page); } class WikiParser { var $rule_count = 0; var $counter = 0; var $currentOrderedSpaces = 0; var $currentUnorderedSpaces = 0; var $rule = array(); var $repl = array(); var $option = array(); var $wiki_url = ""; var $wikidir = "/var/moin/share/moin/data/text/"; var $lastHeaderNum = 0; var $level = array(); var $section_numbers = 1; //var $wiki_url = "/emergent/"; function makeLevelHeading($max) { if ($this->section_numbers == 0) return ""; $retval = ""; for ($i = 1; $i <= $max; $i++) { if ($this->level[$i] == 0) $this->level[$i] = 1; $retval .= $this->level[$i] . "."; } return $retval . " "; } function preformat($text) { $text = preg_replace("'$$$(.*)$$$'", "$1", $text); $text = preg_replace("'$$(.*)$$'", "$1", $text); $text = preg_replace("/\\\'\\\'\\\'(.*)\\\'\\\'\\\'/", "$1", $text); return "
" . $text . "
"; } function setURL($url) { $this->wiki_url = $url; } function addRule( $match, $replacement, $option = 0) { $this->rule[$this->rule_count] = $match; $this->repl[$this->rule_count] = $replacement; $this->option[$this->rule_count] = $option; $this->rule_count++; } function memoize($num, $o1, $o2, $o3, $o4) { //if ($num == -1) { // wiki system replacement before <> subs //$this->counter += 1; //$this->actual[$this->counter] = $o1; //return "&&&&$this->counter&&&&"; //} else if ($this->option[$num] == 1) { // function eval( '$retval = ' . $this->repl[$num] . ';'); if ($retval != $o1) { // this should only happen with funcs $this->counter += 1; $this->actual[$this->counter] = $retval; if ($o3[0] == "=") { return "\n\n<<<$this->counter>>>"; } return "<<<$this->counter>>>"; } else { return $retval; } } else if ($this->option[$num] == 0) { // string $this->counter += 1; eval( '$this->actual[$this->counter] = "' . $this->repl[$num] . '";'); return "<<<$this->counter>>>"; } else if ($this->option[$num] == 2) { // immediate, no memoize eval( '$retval = "' . $this->repl[$num] . '";'); return str_replace("\'", "'", $retval); } else if ($this->option[$num] == 3) { // preface string with newline $this->counter += 1; eval( '$this->actual[$this->counter] = "' . $this->repl[$num] . '";'); return "\n<<<$this->counter>>>"; } } function applyRule($num, $text) { //print "APPLYING RULE $num: " . $this->rule[$num] ."
"; $text = preg_replace($this->rule[$num] . 'e', "\$this->memoize($num, \"\$1\",\"\$2\",\"\$3\",\"\$4\")", $text); return $text; } function handlePragma($command) { if ($command == "section-numbers off") $this->section_numbers = 0; return ""; } function handleFormat($command) { if ($command == "python") return "
";
    return "";
  }

  function headerNum($level, $text) {
    if ($this->lastHeaderNum == $level) { // increment current level
      $this->level[$level]++;
    } else if ($this->lastHeaderNum < $level) { // start new level
      $this->level[$level] = 1;
    } else if ($this->lastHeaderNum > $level) { // return to a previous level
      $this->level[$level]++;
      // clear all higher than level
      for ($i = $level + 1; $i <= 5; $i++) {
	$this->level[$i] = 0;
      }
    }
    $levelString = $this->makeLevelHeading($level);
    $this->lastHeaderNum = $level;
    return "$levelString $text";
  }

  function WikiParser() {
    // ORDER MATTERS
    $titleSearch = "";
    $fullSearch = "Go here for full search functions";
    $goto = 'EditText

of this page
(last modified 2004-01-09 12:39:15)

FindPage
 by browsing, title search , text search  or an index

Or try one of these actions: 
LikePages, 
LocalSiteMap, 
SpellCheck











';
    $this->addRule("'\n#pragma (.*)'", '$this->handlePragma($o1)', 1); 
    $this->addRule("'\n#redirect (.*)'", '"This page has been relocated at " . $this->wikiname($o1, 1)', 1); 
    $this->addRule("'\n#acl .*'", ""); 
    $this->addRule("'\n##.*'", ""); 
    $this->addRule("'\[\[BR\]\]'",'
');
    // [[SpecialWords]]
    $this->addRule("'\[\[TitleSearch\]\]'", $titleSearch);
    $this->addRule("'\[\[GoTo\]\]'", $goto);
    $this->addRule("'\[\[fullSearch\]\]'", $fullSearch);
    $this->addRule("'\[\[FullSearch\(\)\]\]'", $fullSearch);
    // used to just take out:
    //$this->addRule("'\[\[.*\]\]'",'');
    // inline:
    $this->addRule("'{{{([^}\n]*)}}}'", '$o1');    
    // code block:         
    //$this->addRule("'\{\{\{(.*)\}\}\}'Us", '
$o1
');
    $this->addRule("'\{\{\{(.*)\}\}\}'Us", '$this->preformat($o1, 1)', 1);
    // [http word]:
    $this->addRule("'\[http://(\S*)\]'", " \$o1"); 
    $this->addRule("'\[http://(\S*) (.*)\]'U", " \$o2"); 
    $this->addRule("'\[file://(\S*) (.*)\]'U", " \$o2"); 
    // images:
    $this->addRule("'http://(\S*\.gif)'i", '');  // gif
    $this->addRule("'http://(\S*\.png)'i",'');   // png
    $this->addRule("'http://(\S*\.jpg)'i",'');   // jpg
    $this->addRule("'http://(\S*\.jpeg)'i",'');   // jpg
    // html:
    $this->addRule("'http://([a-zA-Z0-9./\-~#\?\&\_]*)'", '$o1');
    // HR: FIX: allow multiple widths
    $this->addRule("'\n(==*) (.*) (==*)'", '$this->headerNum(strlen($o1),$o2,$o3)', 1); 
/*
    $this->addRule("'\n(=) (.*) (=)'", '$this->headerNum(strlen($o1),$o2,$o3)', 1);
    $this->addRule("'\n(==) (.*) (==)'", '$this->headerNum(strlen($o1),$o2,$o3)', 1); 
    $this->addRule("'\n(===) (.*) (===)'", '$this->headerNum(strlen($o1),$o2,$o3)', 1); 
    $this->addRule("'\n(====) (.*) (====)'", '$this->headerNum(strlen($o1),$o2,$o3)', 1); 
    $this->addRule("'\n(=====) (.*) (=====)'", '$this->headerNum(strlen($o1),$o2,$o3)', 1); 
*/
    $this->addRule("'\n----*'", "
\n", 3); 
    // color:
    $this->addRule("/$$$(.*?)$$$/",'$o1', 2);  // immediate
    $this->addRule("/$$(.*?)$$/",'$o1', 2);  // immediate
    // bold:
    $this->addRule("/'''(.*?)'''/",'$o1', 2);  // immediate
    // italic: 
    $this->addRule("/''(.*?)''/", '$o1', 2);   // immediate
    // smile1:
    $this->addRule("'\s\:\)\s'", "  ");  
    // smile2:
    $this->addRule("'\sB\)\s'", "  ");  
    // smile3:
    $this->addRule("'\s\:\)\)\s'", "  ");  
    // smile4:
    $this->addRule("'\s\;\)\s'", "  ");  
    // smile5:
    $this->addRule("'\s\:D\s'", "  ");  
    // smile6:
    $this->addRule("'\s\<\;\:\(\s'", "  ");  
    // smile7:
    $this->addRule("'\sX\-\(\s'", "  ");  
    // smile:
    $this->addRule("'\s\:o\s'", "  ");  
    // smile:
    $this->addRule("'\s\:\(\s'", "  ");  
    // alert:
    $this->addRule("'\s\/!\\\\\s'", "  ");  
    // attention:
    $this->addRule("'\s\<\;\!\>\;\s'", "  ");   
    // idea:
    $this->addRule("'\s\(\!\)\s'", "  ");
    // smile:
    $this->addRule("'\s\:\-\?\s'","  ");
    // smile:
    $this->addRule("'\s\:\\\\\s'","  ");
    // smile:
    $this->addRule("'\s\>\;\:\>\;\s'",
		   "  ");
    // smile:
    $this->addRule("'\s\%\)\s'", "  ");  
    // smile:
    $this->addRule("'\s\@\)\s'", "  ");  
    // smile:
    $this->addRule("'\s\|\)\s'", "  ");  
    // smile:
    $this->addRule("'\s\;\)\)\s'", "  ");  
    // [[HTML]]:
    $this->addRule("'\[\[([^\]]*)\]\]'",'$o1');
    // ["WikiName"]:
    $this->addRule("'\[\"\;(.*?)\"\;]'", '$this->wikiname($o1, 1)', 1); // func
    // wikiwords, other strings:
    $this->addRule("'([\w\.\/\@\:]+)'", '$this->wikiname($o1)', 1); // func
    //$this->addRule("'\n'", "", 3); 
  }

  function wikiname($o1, $force = 0) {
    if ($force) {
      $this->counter += 1;
      $d1 = str_replace(" ", "_20", $o1);
      $d1 = str_replace("/", "_2f", $d1);
      $this->actual[$this->counter] = "${o1}";
      return "<<<$this->counter>>>";
    }
    $extra = "";
    if (substr($o1, -1) == "." ||
	substr($o1, -1) == "?" ||
	substr($o1, -1) == ",") {
      $extra = substr($o1, -1);
      $o1 = substr($o1, 0, -1);
    }
    if ($o1 != strtoupper($o1) &&
        $o1 != strtolower($o1) &&
        $o1 != ucfirst(strtolower($o1)) &&
        $o1 == ucfirst($o1) &&
	$o1 != strtoupper( substr($o1, 0, -1)) . "s" &&
        (strpos($o1, '/') === false) &&  // FIX: this can happen in inter wiki names
        (strpos($o1, ".") === false) &&
        (strpos($o1, "@") === false) 
	) {
      $this->counter += 1;
      if (strpos($o1, ':') == false) {
	$d1 = str_replace(" ", "_20", $o1);
	$d1 = str_replace("/", "_2f", $d1);
	$this->actual[$this->counter] = "${o1}";
      } else {
	$parts = split(":", $o1);
	$this->actual[$this->counter] = " " . $parts[1] . "";
      }
      return "<<<$this->counter>>>$extra";
    } else if (strpos($o1, "@")) { // email address
      $this->counter += 1;
      $this->actual[$this->counter] = "$o1";
      return "<<<$this->counter>>>$extra";
    } else {
      return "${o1}${extra}"; // just return word
    }
  }

  function getFile($filename) {
    $filename = str_replace("-", "_2d", $filename);
    $filename = str_replace(".", "_2e", $filename);
    $text = '';
    $pre = 0;
    $fp = @fopen($this->wikidir . $filename, "r");
    if ($fp > 0) {
      while(!feof($fp)) {
	$tmp = fread($fp, 4096);
	if (strtoupper(substr($tmp, 0, 7)) == "#FORMAT") {
	  $text .= "{{{\n";
	  $text .= substr($tmp, 15);
	  $pre = 1;
	} else {
	  $text .= $tmp;
	}
      }
      if ($pre) {
	$text .= "\n}}}\n";
	$text .= "[[http://emergent.brynmawr.edu/emergent/${filename}?action=raw download]] " .
	  "[[http://emergent.brynmawr.edu/emergent/${filename}?action=edit edit]]\n";
      }
      //$text .= $this->memoize(2, "[download]", 0, 0, 0);
      //$retval = $this->memoize(-1, "${o1}", 0, 0, 0);
      //$text .= $retval . "\n";
      return $text;
    } else {
      return "file not found: $filename";
    }
  }

  function html($text) {
    // get all includes:
    $text = $this->pass0($text);
    // replace items with <<>>:
    $text = $this->pass1("\n" . $text);
    // handle lists and tables:
    $text = $this->pass2($text);
    // replace <<>> with items:
    $text = $this->pass3($text); 
    $text = $this->pass3($text); 
    $text = $this->pass3($text); 
    return $text;
  }
  
  function pass0($text) {
    // [[Include(PyroModulesContents)]]
    $text = preg_replace("'\[\[Include\(([^\]]*)\)\]\]'" . 'e', 
			 "\$this->pass0(\$this->getFile(\"\$1\"))", 
			 $text);
    return $text;
  }

  function pass1($text) {
    $text = str_replace('"', '"', $text); // replace \" with double quote
    $text = str_replace('<', '<', $text); 
    $text = str_replace('>', '>', $text); 
    $text = str_replace('$', '$', $text); 
    for ($i = 0; $i < count($this->rule); $i++) {
      $text = $this->applyRule($i, $text);
    }
    return $text;
  }

  function pass3($text) {
    for ($i = 1; $i <= count($this->actual); $i++) {
      $text = preg_replace("'\<\<\<" . ($i+0) . "\>\>\>'", 
			   str_replace("\'", "'", $this->actual[$i]), 
			   $text);
    }
    return $text;
  }

  function pass2($text) {
    // FIX: this could be reduced
    $lines = split("\n", $text);
    $depth = array();
    $depth[0] = '';
    $depth_type = array();
    $depth_type[0] = '';
    $table = 0;
    for ($i = 0; $i < count($lines); $i++) {
      if (preg_match("'\s*\|\|\|\|\|\|(.*?)\|\|$'", $lines[$i], $o)) { // table
	$lines[$i] = "";
	if ($table == 0)
	  $lines[$i] .= "";
	$table = 1;
	// || text || 
	// |||| text || 
	$o[1] = str_replace("||||", "";
      } else if (preg_match("'\s*\|\|\|\|(.*?)\|\|$'", $lines[$i], $o)) { // table
	$lines[$i] = "";
	if ($table == 0)
	  $lines[$i] .= "
 text  text ", $o[1]);
	$row = str_replace("||", "", $o[1]);
	$lines[$i] .= "
$row
";
	$table = 1;
	// || text || 
	// |||| text || 
	$o[1] = str_replace("||||", "";
      } else if (preg_match("'\s*\|\|(.*?)\|\|$'", $lines[$i], $o)) { // table 
	$lines[$i] = "";
	if ($table == 0)
	  $lines[$i] .= "
 text  text ", $o[1]);
	$row = str_replace("||", "", $o[1]);
	$lines[$i] .= "
$row
";
	$table = 1;
	// || text || 
	// |||| text || 
	$o[1] = str_replace("||||||", "";
      } else if (preg_match("'^(\s+)(\d+)\.(\#[^\s]*)*(.*)$'", $lines[$i], $o)) { 
	// numbered list:
	if ($o[3][0] == '#')
	  $o[3] = substr($o[3], 1);
	$lines[$i] = '';
	if (strlen($o[1]) > $depth[count($depth) - 1]) {
	  $lines[$i] .= "
    ";
      } else if (preg_match("'^(\s+)([aAiI]*)\.(\#[^\s]*)*(.*)$'", 
			    $lines[$i], $o)) {
	// lettered list:
	if ($o[3][0] == '#')
	  $o[3] = substr($o[3], 1);
	$lines[$i] = '';
	if (strlen($o[1]) > $depth[count($depth) - 1]) {
	  $lines[$i] .= "
      ";
      } else if (preg_match("'^(\s+)\*(.*)$'", $lines[$i], $o)) {
	// unordered list:
	$lines[$i] = '';
	if (strlen($o[1]) > $depth[count($depth) - 1]) {
	  $lines[$i] .= "
        ";
	  $depth[count($depth)] = strlen($o[1]); 
	  $depth_type[count($depth_type)] = "
      ";
	} else if (strlen($o[1]) < $depth[count($depth) - 1]) {
	  while (strlen($o[1]) < $depth[count($depth) - 1]) {
	    $lines[$i] .= $depth_type[count($depth_type)-1];
	    array_pop($depth);
	    array_pop($depth_type);
	  }
	}
	$lines[$i] .= "
    1. " . trim($o[2]) . "
      2. ";
      } else if (preg_match("'^(\s+)(.*)$'", $lines[$i], $o)) { 
	// indented list:
	$lines[$i] = '';
	if (strlen($o[1]) > $depth[count($depth) - 1]) {
	  $lines[$i] .= "
        ";
	  $depth[count($depth)] = strlen($o[1]); 
	  $depth_type[count($depth_type)] = "
      ";
	} else if (strlen($o[1]) < $depth[count($depth) - 1]) {
	  while (strlen($o[1]) < $depth[count($depth) - 1]) {
	    $lines[$i] .= $depth_type[count($depth_type)-1];
	    array_pop($depth);
	    array_pop($depth_type);
	  }
	}
	$lines[$i] .= "
      $o[2]";
      } else if (preg_match("'^\s*$'", $lines[$i], $o)) { // newline
	$lines[$i] = "";
	if ($table == 1) {
	  $lines[$i] .= "
 text  text ", $o[1]);
	$o[1] = str_replace("||||", "", $o[1]);
	$row = str_replace("||", "", $o[1]);
	$lines[$i] .= "
$row
";
	  $table = 0;
	}
	while (count($depth) > 1) {
	  $lines[$i] .= $depth_type[count($depth_type)-1];
	  array_pop($depth);
	  array_pop($depth_type);
	}
	$lines[$i] .= "
";
      } else {// else don't bother, it isn't a line we're interested in
	if ($table == 1) {
	  $lines[$i] = "" . $lines[$i];
	  $table = 0;
	}
      }
    }
    return join($lines, "\n");
  }
}
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i, newTkidion
, new-opy
, newmath
, newtkSn pg_Daalog

-yass Laya Canvas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
= s, p	 w't, s rNodes, s rColumns=3, sodeSiz p25):nc.lsssss#calcsimin din->versinc.lsssss
= s.s rColumns $ts rColumnsnc.lsssss
= s.s rRadsu=oam (math.ceil(float(s rNodes)/s rColumns))nc.lsssss
= s.sodeSiz  $tsodeSiz nc.lsssss
= s.s rNodes $ts rNodesnc.lsssss
= s.plotWidth $ts rColumns*sodeSiz  + (s rColumns+1)*
= s.PADDINGnc.lsssss
= s.plotHe< $t
= s.s rRads*sodeSiz  + (
= s.s rRadsu+ 1)*
= s.PADDINGnc.lsssss
= s.vdecuetu= 1
nc.lsssss#c
thht'canvasnc.lsssssTkidion.Canvas.__ML.
__(
= s, p	 w't, he<=
= s.plotHe<, width=
= s.plotWidth, bg $tau  te")
nc.lsssss#drawtsodesnc.lsssss
= s.sodeI
  sy= []nc.lsssssoludiu>s(xdt r"(s rNodes):nc.lse) 
ur
se)ords $t
= s.sodeNumTPC ords(i)nc.lse) 
ur
s
= s.sodeI
  sy+= [
= s.c
thht_ost"(e)ords[0],se)ords[1],se)ords[0]+sodeSiz ,se)ords[1]+sodeSiz ,sout 1ne="faak")]nc.lse) 
ur
s
= s.c
thht_text(e)ords[0]u+ sodeSiz /2u+ 1,se)ords[1]+sodeSiz /2u+ 1,stext="%u" % (i,),   }l="red",  ont=("Aoial", 10, "bold"))
nc.ls'uf sodeNumTPC ords(
= s, sodeNum):nc.lse) 
xC ord $t(sodeNum//
= s.s rRads)*(
= s.sodeSiz  + 
= s.PADDING) + 
= s.PADDINGnc.lse) 
yC ord $t(sodeNum % 
= s.s rRads)*(
= s.sodeSiz  + 
= s.PADDING) + 
= s.PADDINGnnc.lse) 

}
?>xC ord,
yC ordnc.lsnc.ls'uf updhhtActivs(
= s, sewActivs):nc.lse) 
oludiu>s(xdt r"(th) 
= s.sodeI
  s)):nc.lse) 
ur
stry:nc.lsssssssssur
sTITsewActivs[i] > ls0:nc.lsssssssssur
s




= s. temhenfig> s 
= s.sodeI
  s[i],   }l ="#%04x%04x%04x" % ((65535,)*3))nc.lsssssssssur
sel l:nc.lsssssssssur
s




= s. temhenfig> s 
= s.sodeI
  s[i],   }l ="#%04x%04x%04x" % ((65535*sewActivs[i],)*3))nc.lsssssssssexaci:nc.lsssssssssur
snadonnc.ls'uf getWidth 
= s):nc.lse) 

}
?>am (
= s.cget("width"))
nc.ls'uf setVdecuet(
= s, vdecuet):nc.lse) 

= s.vdecuetu= vdecuetnnc.lse) 
TITvdecuet:nc.lse) 
ur
s
= s.cenfig(he<=
= s.plotHe<, width=
= s.plotWidth)nc.lsssssel l:nc.lsssssssss
= s.cenfig(he<=0, width=0)

-yass LrserFr ==(Tkidion.Fr ==):nc.ls'uf __ML.
__(
= s, p	 w't, s ==Siz List):nc.lse) 
Tkidion.Fr ==.__ML.
__(
= s, p	 w't)nc.lsssss
= s.s ==Siz List $ts ==Siz Listnc.lsssss
= s.laya CanvasList $t[]nc.lsssss
= s.laya LabelList $t[]nc.lsssss
= s.vdecuetList $t[1]*th) s ==Siz List)nc.lsssssnc.lse) 
oludiu>s(xdt r"(th) 
= s.s ==Siz List)):nc.lsssssssss
= s.laya LabelList += [Tkidion.Label(
= s, text=
= s.s ==Siz List[i][0])]nc.lse) 
ur
s
= s.laya LabelList[-1].grid(row=2*i,se)l=0)nc.lse) 
ur
s
= s.laya CanvasList += [Laya Canvas(
= s, 
= s.s ==Siz List[i][1],ss rColumns=3, sodeSiz p25)]nc.lse) 
ur
s
= s.laya CanvasList[-1].grid(row=2*i+1,se)l=0)nnc.ls'uf updhhtActivs(
= s, sewActivs):nc.lse) 
oludiu>s(xdt r"(th) 
= s.laya CanvasList)):nc.lsssssssss
= s.laya CanvasList[i].updhhtActivs(sewActivs[i])nnc.ls'uf getWidth 
= s):nc.lse) 
maxWidth $t0nc.lse) 
oludlaya Canvasla ci= s.laya CanvasList:nc.lse) 
ur
sTITlaya Canvas.getWidth ) > maxWidth:nc.lsssssssssur
smaxWidth $tlaya Canvas.getWidth )nnc.lse) 

}
?>maxWidthnnc.ls'uf getN ==List 
= s):nc.lse) 

}
?>[ tem[0]uoludi
   a ci= s.s ==Siz List]nnc.ls'uf getVdeList 
= s):nc.lse) 

}
?>
= s.vdecuetList
nc.ls'uf setVdecuet(
= s, vdecuetList):nc.lse) 

= s.vdecuetList $tvdecuetList
c.lse) 
oludiu>s(xdt r"(th) vdecuetList)):nc.lsssssssss
= s.laya CanvasList[i].setVdecuet(vdecuetList[i])nc.lse) 
ur
sTIT
= s.laya LabelList[i] y) rayu
vdecuetList[i]:nc.lsssssssssur
s
= s.laya LabelList[i].cenfig(text="")nc.lssssssssselTITvdecuetList[i]:nc.lsssssssssur
s
= s.laya LabelList[i].cenfig(text=
= s.s ==Siz List[i][0])nc.lsssssn-yass Laya SecollersDaalog(tkSn pg_Daalog.Daalog):nc.ls'uf __ML.
__(
= s, p	 w't, lrserFr ==List):nc.lse) 

= s.lrserFr ==List $tlrserFr ==Listnc.lse) 

= s.varListsy= []nc.lssssstkSn pg_Daalog.Daalog.__ML.
__(
= s, p	 w't, titlt="Secoll Laya s")nc.lsssss
= s.p	 w't=p	 w'tnc.lsssssnc.ls'uf n wb(
= s, masta ):nc.lse) 
n ==Listsy= []nc.lsssssvdeListsy= []nc.lsssssoludlrserla ci= s.lrserFr ==List:nc.lsssssssssn ==Listsy+= [lrser.getN ==List )]nc.lse) 
ur
svdeListsy+= [lrser.getVdeList )]ssn
c.lse) 
oludiu>s(xdt r"(th) n ==Lists)):nc.lssssssssslrserVarListy= []nc.lssssse) 
oludju>s(xdt r"(th) n ==Lists[i])):nc.lse) 
ur
se) 
lrserVarListy+= [Tkidion.IntVar(
= s.p	 w't)]nc.lse) 
ur
se) 
lrserVarList[-1].set(vdeLists[i][j])nc.lsssssssssur
sTkidion.Checke$tt (masta , text=n ==Lists[i][j], vaoiauet=lrserVarList[-1]).grid(row=j,se)l=i)nc.lse) 
ur
s
= s.varListsy+= [lrserVarList]
nc.lsssss
= s.updhht_idletasks()nnc.ls'uf aRuet 
= s):nc.lse) 

= s.res =
[[laya Var.get ) oludlaya Varla c+rser]soludlrserla ci= s.varLists]c.lse) 


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20nc.ls'uf __ML.
__(
= s, p	 w't, setSyruot):nc.lse) 
Tkidion.Toplrser.__ML.
__(
= s, p	 w't)nc.lsssss
= s.titlt("Net( cw Activa";
  ")nc.lsssss
= s.setSyruot=setSyruotnc.lse) 

= s.lrserFr ==List $t[]nc.lsssssnc.lse) 

= s.genLrserFr ==s()c.lsssssnc.lse) 

= s.scaleCanvasl=sTkidion.Canvas(
= s, he<=
= s.SCALE_HEIGHT)nc.lsssss
= s.drawScale(
= s.calcFullWidth ))
nc.lsssss
= s.e$tt Fr ==l=sTkidion.Fr ==(
= s)nc.lsssss
= s.laya sB$tt s=sTkidion.B$tt (
= s.e$tt Fr ==,stext="Laya s...",d( litmm=
= s.hs(xdt r"(th) 
= s.setSyruot.lrserList)):nc.lssssssssss ==Siz List $t[(vertex.) ==, vertex.laya Obj.siz )tion l] tex a ci= s.setSyruot.lrserList[i]]nc.lse) 
ur
s
= s.lrserFr ==List += [LrserFr ==(
= s, s ==Siz List)]nc.lse) 
ur
s
= s.lrserFr ==List[i].grid(row=0, e)lumn=i)nc.lse) 
s ==Siz List $t[("Desilucd%s" % (laya [0],),dlaya [1]) oludlaya  a cs ==Siz List]ne) 
ur
s
= s.lrserFr ==List += [LrserFr ==(
= s, s ==Siz List)]nc.lse) 
ed
thhough+grsud(ddRutg1serFr pr ==l=sTkidion.Fr ==(
= s)ncoPC li(
= s.cget("width"))
nc.
ur
sTITi

oludiu r ==l=sTkidion.Fr ==(
= s)ncoPC li(
= s.cget("width"))
nc.
ur
sTITi

oludiu r ==l=sTkidion.Fr ==(
=vertex.laya Obj.siz )tior ==s(plii3emaxWid= s.lrserFr ==Lisdthnnc.ls'uf getN ==List 
= sssssnc.ldeListSiz  + (
<=s50sssssur
snadonnc.ls'ufvlerVd( litmm 1 sssssssexaci:nc.lsssssssssur
snadonnc.ls'ufvlerVd( litmm 0 List[-1].grid(row=2*= s.lrserFr ==List="")nc.lssslist[i][0]vs(sewActivs[i])nnc.ls'uf  s):nc.lse) 
maxWidth $t0nc.lse) 
olu)):nc.lsssssss-1ssur
s
= s.laya Label= s.lrserFr ==Lisivs[i])nnc.ls[) 
ur
s
= s.lrsea.scaleCan=List[i].grid(row=0, e)lumn=i)nc.lse) 
s === s.h maxWidth(masrow=2=,stext="Laya s...",d( litmm=
= t $t[(vertex.) ==, s ActivDiag(Tkidion.To=
2edt r"(th) vdecuet )nnc)):nl] tex?>maxWid= s.lrserFr =lsSCALE_HEE_HEd= s.lrser.+ (troy(nc.lsssssnc.lse))nc.lsssss
= s.drawScale(
=llWidth ))
nc.lsssss
Width(masrow=2=,stext="L) s, p	 w't)ncSweep.lsss't)nc.lsssssss
= s.laya CanvasList $t[]nc.lse) 

= s.lrserFr =='t)nc.lssssssvdeListsy= []nc.lsssse) 

= s. ==Siz List $t[(ve#ENTERdtf  ())
f):nc.ldsu+ 1)*
= s.PADtf ion.RIGHT)nc.lsssss
= s.e$tt Fr ==.grid(row=2,sPtf ious e)lumnspan=th) 
= s.lPtf = st=, nnc.ls'ufDISABLEDrserFr ==List:nctf ion.RIhtActivs()nnc.ls'ufLEFLrserFr ==s(
= s())
ion.RIGHT)nc.lsssss
= s.e$tt Fr ==.grid(row=2,sNw=2 e)lumnspan=th) 
= s.lNw=2rserFr ==s(
= s())
ion.RIhtActivs()nnc.ls'ufLEFLrst):nc.lseIGHT itoPAD)nnc.l.drawScale(
=llWidorg/?pa>(= Pse) 
uScale(
=llWido.."vertex.laidth(masrow=2=,stvertex.laidth(maskidion.To
= s.lNw=2r):nc.lsSCALE_HEIGHT org/?pa>(= Ps+=tlt;
  }
}
ist:nctf ion.RIhList):nst=, nnc.ls'ufNORMALs width=0)

-llWidorg/?pa>(= Pse=  .lrserLisitoPAD)nnc.ls-1lsSCALE_HEE_HEIGHT ())
ion.RIhList):nst=, nnc.ls'ufDISABLEDrserFr ==Lz List $t[(verow=2=,stvertex.laidth(mas(maskidion.To
= s.lPtf r):nc.lsSCALE_HEIGHT org/?pa>(= Ps-=tlt;
  }
}
ist:n())
ion.RIhList):nst=, nnc.ls'ufNORMALs width=0)

-llWidorg/?pa>(= Pse= 0lsSCALE_HEE_HEIGHT ctf ion.RIhList):nst=, nnc.ls'ufDISABLEDrsst $t[(verow=2=,stvertex.laidthkidion.To...")nnc.ls'uf  s):nc.lse)#t
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rae

  • WTo=atas/uexssweepl=sTkidion.Canvas(
= s,nvas 

=ea.sca.lssut 1ne=l=sTkidion.Canvas(
= s,nvas 

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rae
)nnc.ls'uf  s):nc.lse)org/?paPats'un]ssn
c.lse) 
oludiu>s(xdt r"(th) e)lumn=i)nc.lse) 
)ords[1]+sodeSirg/?pa))
nc =ist[-1].set(vdeList[i].grid(rnc.lson.Checke$tt (masirg/?pa))
nc TITiumns.+ epumns() 
ur
s
= s.lrsea.scaleCan==Siz List]ne) org/?paPats'un]TITiurg/?pa))
nc]):nc.lse)org/?pa))
nc =sn
c.lse) 
oludi[i].grid(row=0, e)lumn=i)nc.lse) 
s")))ords[1]+sodeSirg/?pa))
nc TITiumns.+ epumns() 
ur
s
= s.lrsetar_(
)]):nc.lse)org/?paPats'un]TITiurg/?pa))
nc]):nc.lse)erLisitoPAD)nnc.l]TITiurg/?paPats'un]Tkidion.To=,st)nnc.ls'uf  s):nc.lse) 
maxWidth $t0nc.lse) 
olu)):nc.lsssssssssur
s
= s.laya Label= s.lrserFr ==Lisivs[i])nnc.lserLisitoPAD)nnc.l[llWidorg/?pa>(= P]TvdecuetList[rtex.) ==, s ActivDiag(Tcis: 1.7 $"

i, newTkidion
, new-opy
, newmath
, newtkSn pg_Daalog

-yass Laya Can1365622037rchustar  dbllllllllankf16423y6754__r wau __ $taMatt Fiedler"
__lrnvers_____________________________________________________________________________________________________vas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
=4s, p	 w't, s rNodes,s, p	 w'rchsss
= s.titlt("Net( cw AcLAB_WIDTHlsss50 cw AcLAB_;
  ")nc.lsssss
cLAB_VER_SEPnsnc0 cw AcLAB_;ORIZ_SEPnsnc0 cw AEDGE_SEPnsnlsssss
LINE_WIDTHlsssssss
FORWARD_COLORnc.ls, "bossss
CONCCs(xd= PMs
ustENximumtoounlr>WTo) 

=  s.SCALE_HEIGHENxe)lumnnvas.getWidth )nnc>s(xdt r e)lumn=i)nc.lse) 
)ords[1]+sodeS

-llsel("Net >_HEIGHENxe)lumnon.Checke$tt (masrow=2ENxe)lumnnvallsel("Net
uScale(
=llWido.==(
nnc.ls'urow=2ENxe)lumn=
= s.cLAB_WIDTHl s.plotHENxe)lumnnidth=
= s.cLAB_;ORIZ_SEPuScale(
=llWido.==(
_ML.
__(
u r ==l=sTkidion.Fr ==(
=vert=
= s.cLAB_;
  ")n s.u r ==l=sTkidion.Fr ==(
=vert+th=
= s.cLAB_VER_SEPst $t[(verow=2=r ==(
= s)nc.lsssss
= s.laya ss(i)nc.lse) p	 w't, s ==So.==(
nnc.l sB$tt s=sTkio.==(
_ML.
_s ==Siz List $t[(vertex.d $t(Di sssn{}st $t[(verow=2=,stslaidth(masrow=2=r ==(

nc.
ur
sTIThhtActivs(se s.soLisnc
thhivleth d):nc.lse)leth daalog)nc.lsssss
ss
= s.layanc.lse) 
T 
mwardr ==(
= s)nc.lsssss
= s.leth daalogp	 w't, s ==SLEGEND_LINE_LENGTH sB$tt s=sTkidLAB_;
  ")nc.lse) 
T 
mwardr ==(
=LmTPC oss
}
0= s, sedLAB_;
  ")/2(rs ==SLEGEND_LINE_LENGTH ss, sedLAB_;
  ")/2(r 
= ss, seFORWARD_COLORp	 w't, 2nc.lse) 
T 
mwardr ==(
=nc.
ur
sTIThhtAc= stickynnc.ls'ufWet):nc.lsest += [Laya Caleth daalogpow=2,s 
mward Lisnc
thhi")
nc.
ur
sTITi

o=s= stickynnc.ls'ufWet):nc.lseLisow=2r ==(
= s)nc.lsssss
= s.leth daalogp	 w't, s ==SLEGEND_LINE_LENGTH sB$tt s=sTkidLAB_;
  ")nc.lse) 
TLisow=2r ==(
=LmTPC oss
}
0= s, sedLAB_;
  ")/2(s ==SLEGEND_LINE_LENGTH ss, sedLAB_;
  ")/2(r 
= ss, seCONCCs(xdt r"(th) e)lumn=i)nc.lse) 
)ords[1]+sodeSkidizOfflii3==(llWido.==(
nnc.ls-ss, sedLAB_WIDTH*llsel("Net -ss, sedLAB_;ORIZ_SEP*(llsel("Net-1))/2t[-1].set(vdeList[i].grid(rnc.lson.Checke$tt (masrow=2=,ste)lum((kidizOfflii,)) 
Offlii)se) 
ur
snc.lse) 
ur
s
= s.lrserFr =n.Checke$tt (masrow=2d $t(Di s[) 
ur
s
= s.lrsenc.l]3==(kidizOfflii,)) 
Offlii)n.Checke$tt (maskidizOfflii3+=ss, sedLAB_;ORIZ_SEP.lse) 
udLAB_WIDTHn.Checke$tt ) 
Offlii3-=ss, sedLAB_VER_SEPn+ss, sedLAB_;
  ")c):nc.lse)#add Lisnc
thhisse)rion etior =lerVaagainc.lse) 
oludiu>s(xdt r"(th) e)lumn=i)nc.lse) 
)ords[1]+sodeSList[i].grid(rnc.lson.Checke$tt (masC
";
dgeid(r) 
ur
s
dgeOuetN ==List 
= sssss(masrow=2=,stCisnc
thhi(
dge./uexV'ufnc.lse
dge.toV'ufnc.lse
dge.typ =n.Checke$tt (maskidion.To=,ste)lum(=setSyrosTu2.1 -nc.lsedeSiz ,se)ords[1]+srow=2=r ==(

LmTPC oslqua_ork(rosTu2.11]+sorosTu2.111+sorosTu2.110]+e) 
udLAB_WIDTHsorosTu2.111++s, sedLAB_;
  "), \N ==List 
= sssss(mashecke$tt (masC
= s..lse) p	Aoial", 10, "bop	 w't, s ==SLINE_WIDTHlaidth(masrow=2=r ==(

LmTPC ords(
rosTu2.110]+2sorosTu2.111++s, sedLAB_;
  ")/2(r 
= s10, "bop	asks()nncINanchornnc.ls'ufWet):nc.lserow=2=r ==(

LmTPC ords(
rosTu2.110]+e) 
udLAB_WIDTH-2sorosTu2.111++s, sedLAB_;
  ")/2(r 
= s10, "bop	\N ==List 
= sssss(mashecke$tt (mas row=2,s# iz ,s=s.sodeSeil(float)INanchornnc.ls'ufE(Tkidion.To=,stCisnc
thhi(=setSy/uexNrid(rooNrid(royp =s):nc.lse) uexLoc3==llWido $t(Di s[/uexNrid ):nc.lse) oLoc3==llWido $t(Di s[ooNrid ):nc.lse)d) 
rgan3==llWidnc.lsD) 
rgan( uexLoc,) oLoctivs(se s.s):nc.lse)#sserla hhtor width=0)

-oyp e) 
=)ncf")ords[1]+sodeSizlorGHTs, seFORWARD_COLORords[1]+spg_Daoyp e) 
=)ncc")ords[1]+sodeSizlorGHTs, seCONCC 1lsSCALE_HEE_HEItLoc3==llWidtopCisnc
t( uexLoc=n.Checke$tt finishLoc3==llWidbottomCisnc
t( oLocti.Checke$tt ) 
Offlii3==llWiddLAB_VER_SEP/2t[-1].set(vde_Da
tLoc1]++finishLocst $/2 >_HEIGHo.==(
nnc.l/2sssssur
snadonnc.lbh dLoc3==llWido.==(
nnc.ls-ss, sedLAB_;ORIZ_SEP.s rRs, seEXTRA_BUFFER*(d) 
rgan-2ti.Checke$tt (mas_Dabh dLoc3>_HEIGHo.==(
nnc.l-1lsSCALE_HEE_HEadonnc.lbh dLoc3==llWido.==(
nnc.ls-s1t[-1].set(vdesssssssssur
snadonnc.lbh dLoc3==llWiddLAB_;ORIZ_SEP.s -Rs, seEXTRA_BUFFER*(d) 
rgan-2ti.Checke$tt (mas_Dabh dLoc3< 0lsSCALE_HEE_HEadonnc.lbh dLoc3== 
uScale(
=====row=2=r ==(

LmTPC oss
}
tLoc1]+sotLoc11+so\N ==List 
= sssss(mashecke$tt (mas rrrrrbh dLocsotLoc11+-) 
Offlii,o\N ==List 
= sssss(mashecke$tt (mas rrrrrbh dLocsofinishLocs1(+) 
Offlii,o\N ==List 
= sssss(mashecke$tt (mas rrrrrfinishLocst ,rfinishLocs1(
=\N ==List 
= sssss(mashecke$tt (mas rrrrrfi.c=izlorINarr
sTst += [LaAST,	 w't, s ==SLINE_WIDTH
N ==List 
= sssss(mashecke$tt (mas rrrrrsmoot, List $t[]RUEetkidion.TotopCisnc
t(=setSytu2.1th) vdecuetList)):tu2.110]+e) 
udLAB_WIDTH/2(rou2.111+tkidion.TobottomCisnc
t(=setSytu2.1th) vdecuetList)):tu2.110]+e) 
udLAB_WIDTH/2(rou2.111++s, sedLAB_;
  ")tkidion.Tonc.lsD) 
rgan(=setSyt1,t2th) vdecuetList)):abs(t211+-t1=l=s/(
= s.cLAB_;
  ")n sllWiddLAB_VER_SEP(Tcis: 1.7 $"

i, newTkidion
, new-opy
, newmath
, newtkSn pg_Daalog

-yass Laya Cannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn1365622037Hst RIhtankf14654y65__r wau __ $taMatt Fiedler"
__lrnvers_____________________________________________________________________________________________________vas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
=5s, p	# -------------------------------------------------------	# Hst RI rams	# -------------------------------------------------------		 w't, s rNodes,s, p	 wHst RIBlocksss
= s.s rColumns $ts rColum=c.lsssBG_WIDTH=3c.lsssBG_;
  ")=12.lsssBG_GRAYls'u#d9d9d9"ssss
NUM_BG_GRAYls'u#b0b0b0"kidion.TosetSyruot=setSyruotnc.lsnt=("eak" ist xAbsINareaext=ingAs= showaya C=0.lrserFr ==List $t[nc.lsssssoludiu>s(xdt r"(s ret):nc.lserow=2List):nssss
=snt=("B$tt s=nt=("Bttltt background 10, "bolt):nc.lserow=2eak"  s.lak"  s.SCALE_HEIGHENxAbs=ENxAbs s.SCALE_HEIGHsotHes
= s.s rRads*sodeareaext=ing s.areaext=ing s.SCALE_HEIGHshowaya C3==lhowaya Ct):nc.lserow=2Let $t3==(lFr =//2t[-1].set"(th) umBG3==llWidomTPC oslqua_ork(0,0(s ==SBG_WIDTH(s ==SBG_$tt ( + 
= ss ==SBG_GRAYlt):nc.lserow=2slqu3==llWidomTPC oslqua_ork(0,0(0(0(Aoial", 10, "bolt):nc.lserow=2lya C3==llWidomTPC otw=2r):ncSBG_WIDTH-1= 0ds)*(
= s.1fsodeSrow=2eak" t)IN\N ==List 
= sssss(mashecke$tt (mas rrrG) + 
= s.PADDINGnc.lse) 
INanchornnc.ls'ufNE, jifynnc.ls'uf genLrserFr ==s(
= sredeI
(width=
= s.ploext=ing>s(xdt areaext=inge)ords[1]+srow=2areaext=ing s.areaext=ing s.SCALE_HEIGHredeI
(width=
= s.ploaya Canvas(
lhowaya C.lsSCALE_HEIGHT ihowaya C3==lhowaya Ct):nc.lserow=2redeI
(wi.lsedth=
= s.) ==, Rlqua_ork(nvas(
eak" ist xAbsINlhowVak" V0.lsSCALE_HEIGHT eak"  s.lak"  s.SCALE_HEIGHENxAbs=ENxAbs s.SCALE_HEIGHredeI
(width=
= s.redeI
('uf  s):nc.lse)#) ==,  slqua_ork width=0)

-row=2areaext=inglsSCALE_HEE_HEofflii3==(llWidlFr *(abs(IGHT eak" )/HEIGHENxAbs)**.5).s -Rs, sef updhhtActivs(
sssssssssur
snadonofflii3==llWidlFr *(abs(IGHT eak" )/HEIGHENxAbs).s -Rs, sef updhht width=0)

-row=2eak"  > 0lsSCALE_HEE_HE 
= Coli)nc.lse) sSCALE_HEE_HEborderColi)ncs, "bossss
vs(
ss

-row=2eak"  < 0lsSCALE_HEE_HE 
= Coli)ncs, "bossss
vs(
E_HEborderColi)ncs, "bossss
vs(
sssssssssur
snadon 
= Colss ==SBG_GRAY #

-zero, blh d ind= PMs
ustrayssss
vs(
E_HEborderColss ==SBG_GRAYt):nc.lserow=2Li s.s rRad2slqu,erow=2Let $t-offlii,orow=2Let $t-offlii,orow=2Let $t+offlii+1,orow=2Let $t+offlii+1rserFr ==s(
= sidth 
= s) rRad2slqu,e 
= s 
= Colp	Aoial",i)nborderColtivs(se s.so) ==,  lya Ct):nc.lse

-row=2lhowaya Csur
s
= s.laya Labeidth 
= s) rRad2 umBG + 
= ss ==SNUM_BG_GRAY("Aoial", 10, "bolur
s
= s.laya Labeidth 
= s) rRad2lya C,e 
= s 
= Colp	)*(
= s.1fsodeSrow=2eak" t)List[-1].grid(row=2*ift rRad2 umBGList[-1].grid(row=2*ift rRad2lya Cnc.lse) 
Tkidion.Fr ==.__ML.
__(
idth 
= s) rRad2 umBG + 
= ss ==SBG_GRAY("Aoial", s ==SBG_GRAYlt):nc.lselaya Labeidth 
= s) rRad2lya C,e 
= ss ==SBG_GRAYlt):nc.lselaya Labelowum(=set2lya Cnc.lse) 
Tlaya Labelowum(=set2 umBGList[-1].gs, p	 wnvarixHst RIsss
= s.titlt("Net( cw AOUTSIDE_COL=c.lse) sSCALTOP_SPACElssssssss
= s.setSyruot=setSyruotnc.lsssnc,	 $tt nvarixSy/uexAxisaya C="op	aoAxisaya C="op	block
= s.50.lrserFr ==List $t[]nc.lsssssnc.lse) 

= s.genLrserFr ==s()c.lsssssnc.sssncet):nc.lserow=2List):nbg=c.lse) 
ust[-1].gs):nc.lserow=2/uexAxisaya Clss/uexAxisaya CrFr ==s()c.lsssoAxisaya ClsssoAxisaya Cust[-1].gs):nc.lserow=2 $tt nvarixlss $tt nvarix s.SCALE_HEIGHENxAbs3==llWidfiutMaxslaidth(masrow=2slqunvarixlss[arLists]c.l#top spacerrserFr ==List $t[diu r ==l=sTbg=c.lse) ("Bttltt thicknessAc= B$tt s=sTkiTOP_SPACE)
nc.
ur
sTITi

o=
= s.setSyruot3ti.Checke$tt (massssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssLists]c.l# p, "ld"axis" lya Cst):nc.lse

-lLisaoAxisaya C=="oon.Fr ==.__ML.st += [Laya Canvas(
= s, aoAxisaya CsTbg==sTkiOUTSIDE_COL,)=nc.
ur
sT1t r"(Acex.laya Ob

-lLis/uexAxisaya C=="oon.Fr ==.__ML.st += [Laya Canvas(
= s, /uexAxisaya CsTbg==sTkiOUTSIDE_COL)oludiu>s(xdthhtAsrserFr ==Lz List $t[(ve#lhow.lak" s css
= ox s.SCALE_ecollDaalog)nc.lsssss
= s.laya ssTbg=c.lse) et):nc.lseIGHT ihowVak" 
= s)nc.lsss, vaoiauet=et):nc.lseIGHT ihowVak" 
) 
urcex.laya Obst += [Laya Ca Fr ==.grid(rbg==sTkiOUTSIDE_COL,	)*(
= Opthhis:")
nc.
u

o=
= r
sT1t stickynnc.ls'ufWet):nc.lserow=2eak" ion.RIGHT)nc.lssssss
= s.updh Fr ==.grid(row=2,sShow.Vak" 
"(rbg==sTkiOUTSIDE_COL,	a.scaebackground =sTkiOUTSIDE_COL,	\N ==List 
= sssss(mashecke$tt (mas rrrrrrrrrrrrBttltt thicknessAc= 
= s):nc.IGHT ihowVak" 
e)lumnspan=th) ) ==, aya Cset):nc.lserow=2eak" ion.RI
nc.
u

o=
= r
sT1t stickynnc.ls'ufWet):nc.lse):nc.lse) 
oludiuhhtAs= r
sT3= s.setSyruot2= stickynnc.ls'ufNtivs(se s.s=aalog)nc.lsssss
= s.laya ssTbg=c.lse) et):nc.lsedesnc.ls
ustspecifico=ataslya Cst):nc.lse

-llse $tt nvarixst $3> 1lsSCALE_HEE_HE 
maxWidth $t0nc.lse $tt nvarixst $ion.Checke$tt (masst += [Laya Ca=aalogds)*(
= s.sodeSiz  +bg==sTkiOUTSIDE_COL)oludiu

o=
= r
sTi= stickynnc.ls'ufNSEWet):nc.lse 
maxWidth $t0nc.lse $tt nvarix$ion.Checke$tt st += [Laya Ca=aalogds)*(
= s.sodeSiz  +bg==sTkiOUTSIDE_COL)oludiur
s_(
u r ==l=s $tt nvarixst $ar.get ss= stickynnc.ls'ufNSEWett):nc.lseddeI
 slqua_orkst):nc.lse 
maxWidth $t0nc.lse $tt nvarix$ion.Checke$tt dthpRlquserVarList[-1].set(vdeLists[i][j])nc.lssss $tt nvarixskidion.Checke$tt (masdthpRlquserVaTITiHst RIBlocks=aalogdsblock
= s,erow=2 $tt nvarixf aRuet HEIGHENxAbs)List[-1]).grid(rowdthpRlquserVh"))
nc.
u.get ss= aya Vnc.lse) 
Tlaya LabeslqunvarixlTITidthpRlquserV]vs(se s.s=aalog
nc.
ur
sT1thhtAss ==Siz List $t[(vertex.) ==, s ActivDiag(Tkidion.To) ==, W$tt s.laya s $tt nvarix$lsSCALE_HEIGHT  $tt nvarixlss $tt nvarix s.SCALE_HEIGHENxAbs3==llWidfiutMaxslaidth(mas 
maxWidth $t0nc.lse) 
olslqunvarixdion.Checke$tt Lists[i][j])nc.lssss) 
olslqunvarixskidion.Checke$tt (mas) 
olslqunvarixskiRue.) ==, Rlqua_ork(nvas2 $tt nvarixf aRuet HEIGHENxAbs)st $t[(vertex.) ==, s ActivDiag(Tkidion.TofiutMaxs'uf  s):nc.lse)ENxAbs3==s.getWidth )nnr
s_t r"(th) $tt nvarixon.Checke$tt List $tt _t rr
stN ==List 
= sssssnc.abs( $tt 0]uoludAbslsSCALE_HEE_HEadonnc.lENxAbs3==abs( $tt 0t width=0)

-ENxAbs3===s




= s. temhenList)):1.s.getWidthkidion.Fr ==.__ML.>
= s.vdAbs kidion.To) ==, ext=ing>s(xd s):nc.lse) 
mar<, wt r"(th)slqunvarixlsSCALE_HEE_HE 
maxrds[0t rr
sslsSCALE_HEE_HEadonxrds[.ploext=ing>s(xd.byAsnc__(
= )st $t[(vertex.) ==, s ActivDiag(Tkidion.To) ==, aya Cs>s(xd s):nc.lse) 
mar<, wt r"(th)slqunvarixlsSCALE_HEE_HE 
maxrds[0t rr
sslsSCALE_HEE_HEadonxrds[.ploaya Canvas ihowVak" 
)_(
= )st $t[(vertex.) ==, s ActivDiag(Tt $t[(ve
is.se)nncc.ls= '__main__'lsSCALroot)nc.lsssss
Tkg(Tt $tmy.lssut nvarixHst RIsroot,CanvarixlHst RI Tes2 e)[[5.
= 3.
= 2.t ,r[-99.9, -3.4, -6.t ,r[1.
= 4.
= -7.t ](Tt $tmy.lssut nvarixHst RIsroot,Caext=ing Tes2 e)[[-9.88652774 ,r[4.94260928 ](Tt $troot.mainloopg(Tcis: 1.7 $"

i, newTkidion
, new-opy
, newmath
, newtkSn pg_Daalog

-yass Lay1365622037Hst RIWr( lirhtankf02126y10__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssvas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
=2s, p	/uexsHst RI  w't, s*	 w't, s rNodes,s, p	 wHst RI(nvarixHst RIsssss
= s.laya CanvasListblocks3==1.lsssncls'uop	 w't,lss275ist xeak"  s.1.
= =atas= Nones.genLrs=Nones.xDataaya C="op	yDataaya C="o s):nc.lse)

-lLisgenLrslsSCALE_HEE_HEgenLrs)nc.lsssss
Tkg(Tt $tttttnvarixHst RIssssvdeListsy= []nc.lsssssolue)[[0.t ]*blocksp	block
= s. w't,/blocksp	/uexAxisaya C=xDataaya Cp	aoAxisaya C=yDataaya Claidth(mas(maskidion.ToploTssnc.nvas(
=ssncelsSCALE_HEIGHT sssnc.sssncetkidion.Toch)nc.
= s.nvas(
evLrselsSCALE_HEprst  "Unsup't, rgs.p)ron"Tkidion.To) ==, (nvas(
eec s):nc.lse)
hcluDatas= n
c.lse) 
oludi==,id(r) clsSCALE_HEE_HE
hcluDatasTITi[==,]]st $t[(vertex.) ==, W$tt s.
hcluDatawi.lsedth=
= s.+ (troy(s(xd s):nc.lsnvarixHst RIs+ (troy(s(xd 

is.se)nncc.ls= '__main__'lsSCALroot)nc.lsssss
Tkg(Tt $thst RI1)ncHst RI(6sst $t[=root,CxDataaya C="x axis"p	yDataaya C="y axis"(Tt $thst RI1.) ==, ([0.t,.1.
= .5is0.t,.-1.
= -.5](Tt $thst RI2)ncHst RI(8s.genLrs=root(Tt $tvs= n1.t,.1.
= 1.
= 1.
= -1.
= 1.
= -1.
= -5.
]Tt $thst RI2.) ==, (v(Tt $tprst  vTcis: 1.7 $"

i, newTkidion
, new-opy
, newmath
, newtkSn pg_Daalog

-yass Laya Cannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn1365622037Ne)lumn=i)tankf10471y7242__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssvas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
=5s, p	 w't, sQueue,s, p	 wV 
ur
ssss
= s.laya CanvasList
= s.lrsoll Laya s")nc.ls= s.lrs 'uf getlrsl Laya s")nc.l
dgeOues.drawScale(
=llWid_ML. rgs==s.getWidthrow=2Lis)*(
s.drawScale(
=llWidSUBMI
= s.lrsenc.l ==Siz List $tn.TopddEdgeOues'uf getWiEdgeoll Laya s")nc.l
dgeOuesTITitWiEdge]):nc.lse)

-lWiEdge.oyp e) 
=)ncc")ords[1]+sodeSrow=2Lis)*(
sTITitWiEdge])st $tn.Tohatw=2r):nc.lsSCALE_HE>
= sssss) 
olLis)*(
0]uo0,s, p	 wEdgessss
= s.laya CanvasList/uexV'u,toV'u,oyp ,Lisnc
thhi=Noneoll Laya s")nc.l/uexV'ulss/uexVerrserFr ==c.lsssoV'ulsssoV'u.getWidthrow=2Lisnc
thhiv= Lisnc
thhirserFr ==c.lsssyp lsssyp ,s, p	 wNe)lumn=issss
= s.laya CanvasList vas 

=oll Laya s")nc.lvas 

=ssnce 

=l Laya s")nc.lsc.lse) 
s.drawScale(
=llWidLise) 
s.drawScale(
=llWidENTELc.lse) 
g(TuetList[kidion.ToENTELc.lse) 
g):nc.lsSCALE_HE)nc.lsc.lse) 
s.drawScale(
=llWidLise) 
s.drawScale(
=) 
ur
Di sssn{}st $t[(ve
hcluV 
uBtp rss[arLists]c.l#iz ))ret[i].grilerVa/uexs
dgeilelList[i] y) raycRI  n")nc.lvas 

=2Lisnc
thhislsSCALE_HEE_HE

-lLis) 
ur
Di s.ha_key(Lisssoe)lumenc.lion.Checke$tt (mastWiV 
ur
rssV 
ur
(Lisssoe)lumti.Checke$tt (mas) 
ur
Di s[Lisssoe)lumenc.l]ssnceiV 
ur

sSCALE_HEE_HE

-lLis) 
ur
Di s.ha_key(Liss uexL)lumenc.lion.Checke$tt (mastWiV 
ur
rssV 
ur
(Liss uexL)lum=n.Checke$tt (masrow=2d nserVaTITiEdge(tWiV 
ur
,s) 
ur
Di s[Lisssoe)lumenc.l],s 
mward e)lun==Siz List]ne) (mastWiV 
ur
.pddEdgeOues'uf 2d nserVesN ==List 
= sssssnc.Liss uexL)lumelssde) 
=)ncI")ords[1]+sodeSSSSSssssnhcluV 
uBtp rTITitWiV 
ur
=Siz List]ne) (mas) 
ur
Di s[Liss uexL)lumenc.l]ssnceiV 
ur

ist]ne) (massssssssssur
snadonnc.low=2d nserVaTITiEdge() 
ur
Di s[Liss uexL)lumenc.l],s) 
ur
Di s[Lisssoe)lumenc.l],s 
mward e)lun==Siz List]ne) (mas) 
ur
Di s[Liss uexL)lumenc.l].pddEdgeOues'uf 2d nserVesNsSCALE_HEE_HE

-Liss uexL)lumelssde) 
=)ncC")ords[1]+sodeSSSSS) 
ur
Di s[Lisssoe)lumenc.l].pddEdgeOuesEdge() 
ur
Di s[Lisssoe)lumenc.l],s) 
ur
Di s[Liss uexL)lumenc.l], sLisow=2"))c):nc.lse)#add  n"ctfdi
thhi r=s(prgenthist):nc.lse 
ma/uexNrid(rooNrid  n")nc.lvas 

=2rgenthist += [LrserFrv 
ur
Di s[/uexNrid .pddEdgeOuesEdge() 
ur
Di s[/uexNrid ,s) 
ur
Di s[ooNrid , srgenthi")0t width=0)

-havasm(=set2 as 

=, sctfdi
thhi")lsSCALE_HEE_HE 
ma/uexNrid(rooNrid  n")nc.lvas 

=2ctfdi
thhi)ords[1]+sodeSSSSS) 
ur
Di s[/uexNrid .pddEdgeOuesEdge() 
ur
Di s[/uexNrid ,s) 
ur
Di s[ooNrid , sctfdi
thhi")
ur
s
= s.so modifnc. brea't,lfirrVasearchd= PMsmipleoting post st):nc.lse())
))
nc =snhcluV 
uBtp t):nc.lseoutclu))
nc =sn
ct):nc.lse 
ma) 
uBtp rinsnhcluV 
uBtp st += [LrserFrv 
uBtp d_ML. rgs==sss#drawtsowhilesssss())
))
nc) > 0lsSCALE_HEE_HE)nc.lsc.lse) 
sTITitWxa))
nc]):nc.lse).lse())
))
nc =sist[-1].set(vdeList[i].Btp rins)nc.lsc.lse) 
s")))ords[1]+sodeS(vdeList
dgesid(r) 
uBtp d
dgeOuetN ==List 
= sssss(mas

-
dges.oyp e) 
=)ncf" LabelLis
dges.ooV'uf_ML. rgtN ==List 
= sssss(masssss
dges.ooV'uf_ML. rg =s1t[-1].set(vde
= sssss(mas

-
dges.ooV'uf
= s.lrselssde) 
=)ncO")ords[1]+sodeSSSSSssssssssssssoutclu))
nc TITi
dges.ooV'u=Siz List]ne) (mas
= sssss(mas

-
dges.ooV'ufhatw=2rion.Checke$tt (masssssssssssssssss raycRItw=2Edgeid(r
dges.ooV'ufcRItw=2on.Checke$tt (massssssssssssssssssssscRItw=2Edge.ooV'uf_ML. rg =1t[-1].set(vde
= sssss(masssssssssssssoutclu))
nc TITicRItw=2Edge.ooV'u=Siz List]ne) (mas
= ssssssssssssssur
snadonnc.ls'ufffffffff())
))
nc TITi
dges.ooV'u=Siz List]ne) (mas
= sssss(mas

-
dges.ooV'ufhatw=2rion.Checke$tt (masssssssssssssssss raycRItw=2Edgeid(r
dges.ooV'ufcRItw=2on.Checke$tt (massssssssssssssssssssscRItw=2Edge.ooV'uf_ML. rg =1t[-1].set(vde
= sssss(masssssssssssss())
))
nc TITicRItw=2Edge.ooV'u=Siz List])nc.lsc.lse) 
sTITioutclu))
ncawScale(
= is.se)nncc.ls= "__main__")ords[#iv= se) 

=() ords[#i.pdd(e)lum('nhclu',2 )st $t#i.pdd(e)lum('hidden',2 )st $t#i.pdd(e)lum('outclu',1)) ords[#i.Lisnc
t('nhclu','hidden')ords[#i.Lisnc
t('hidden','outclu'wi.lsedth=
#myNe) 

= sssnNe) 

= s(n)ords[#prst  myNe) 

= slsc.lse) 
ords[#prst  myNe) 

= sls)lumDi sords[#prst  myNe) 

= sl
dgee) 
ords[/uexs13.56220.Lisx  w't, sSRNords[
rssSRNg(TuetL
.pddThrelrserFs(3,3,3(TuetLSRN 

= sssnNe) 

= s(x(Tt $tprst  SRN 

= slsc.lse) 
o
ssss rayon.Fr ==(
s
= s. st += [Lrsprst  l)lumelssdo
ssss rayo>s(xdt rSRN 

= slsc.lse) 
s):nc.lse) 
ma[i].grid(rnc.lson.Checke$tt prst  v 
ur
snc.lTcis: 1.7 $"

i, newTkidion
, new-opy
, newmath
, newtkSn pg_Daalog

-yass Laya Cannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn1365622037TwoDimPloi)tankf22413y7350__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssvas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
=7s, p	 w't, s rNodes, w't, stkFiListsy= , w't, stkMessageBox,s, p	 wTwoDimPloisss
= s.titlt("Net( cw ATICK_LENGTHlss7 cw ATICK_SPACING3==75)st $tn.TosssvdeListsy= []nc.lsssiz LNrid="  e)xTsoludl  e)yTsoludl  e)xMax=1.
= yMax=1.
= iz List):=30
= iz L_ML.
_=225e)lloseCallback=Noneoll Laya s"List $t[]nc.lsssssnc.lse) 

= s.genLrserFr ==s()c.lssiz LDatas= n
c.lse) 
oc.lssiz LNlog)nciz LNlogc.lse) 
oc.lssxTsoludxTsoluc.lse) 
oc.lssyTsoludyTsoluc.lse) 
oc.lssxMax)ncxMaxc.lse) 
oc.lssyMax)ncyMaxc.lse) 
oc.lssal",sOn =tlt;
  }
}
ist:ncz List):)nciz Lnnc.ls-s(iz Lnnc.ls%
ist:nTICK_SPACINGerFr ==s()c.lssiz L_ML.
__(
iz L_ML.
__-s(iz L_ML.
__%
ist:nTICK_SPACINGerFr ==s()c.lssxNumTicks3==ist:ncz List)://ist:nTICK_SPACINGc.lse) 
oc.lssyNumTicks3==ist:ncz L_ML.
_//ist:nTICK_SPACINGcr
s
= s.so---- BEGIN GUI SETUP ----		
s
= s.somaind= ndwc):nc.lse)row=2List):nbg=c.lse) 
ust[-1].gIGHT sssnc.c.lssiz LNloglaidth(masrow=2slsiz):nc(0,0
ur
s
= s.sobegindesnc.lsmenu t):nc.lserootMenu)nc.lsssss
Menuauet=et):nc.lseIGHT List):nmenu)ncrootMenulaidth(mas iLiMenu)nc.lsssss
MenuarootMenulaidth(masrootMenu.pdd_cascadsslsa C="FiLi e)menu= iLiMenulaidth(mas iLiMenu.pdd_cumnspaslsa C="Save =atas=0, e)lumnspan=th) wrse)ToFiLilaidth(mas iLiMenu.pdd_segenatorg(TuetList[

-LloseCallback != Nonesssssur
snadon 
=iMenu.pdd_cumnspaslsa C="Exi2 e)lumnspanLloseCallbacknc.lse) 
Tkidion.Fr ==.__ML. 
=iMenu.pdd_cumnspaslsa C="Exi2 e)lumnspan=th) + (troync.lse) 
TviewMenu)nc.lsssss
MenuarootMenulaidth(masrootMenu.pdd_cascadsslsa C="View e)menu=viewMenunc.lse) 
TviewMenu.pdd_css
= s.updhlsa C="Hide Ll",s e)lumnspan=th) alsssLl",s= st=, nnc.ls'ufACTIVEet):nc.lsejh d Lsnc.lsmenu t):nc.lser
s
= s.sobegindaxisslya Cst):nc.lsexaya Clssst += [Laya Canvas(
= s, c.lssxTsolusTbg=c.lse) et):nc.lsexaya C
nc.
ur
sT3thhtA2et):nc.lseyaya Clssst += [Laya Canvas(
= s, c.lssyTsolusTbg=c.lse) et):nc.lseyaya C
nc.
ur
sT1t r"(Acex.laya Objh d axisslya Cst):nc.lser
s
= s.sobegindx axis ticks3Labetickslya Cst):nc.lsec.lssxTsckaya Css= n
c.lse) 
oc.lssxAxisr ==(
= s)nc.lsssss
= s.laya ss(=c.lse) p	 w't, s ==Scz List):+25e)B$tt s21,Bttltt thicknessAclaidth(mas 
maxLoc3i][j])nc. (ist:ncz List):/c.lssxNumTicks,=ist:ncz List):+1,orow=2cz List):/c.lssxNumTicksssur
s
= s.laya LabexAxisr ==(

LmTPC oss
}
xLocso
= xLocsoist:nTICK_LENGTHnc.lse) 
Tlaya LabexTsckaya CssTITi LabexAxisr ==(

LmTPC otw=2rxLocsoist:nTICK_LENGTHINanchornnc.ls'ufNp	)*(
= s.2g"%rxLoc*c.lssxMax/row=2cz List):))arLists]c.lse) 
xAxisr ==(

LmTPC oss
}
0,0(s ==Scz List):,0erFr ==s()c.lssxAxisr ==(

ludiu>s(xdt r"(xdt r"(th)yruot2ex.laya Obj h d x axis ticks3Labetickslya Cst):nc.lser
s
= s.sobegindy axis ticks3Labetickslya Cst):nc.lseyC.==(
nnc.ls'u5s.getWidthrow=2yTsckaya Css= n
c.lse) 
oc.lssyAxisr ==(
= s)nc.lsssss
= s.laya ss(=c.lse) p	B$tt s=sTkicz L_ML.
_+25e) w't, yC.==(
nnc.l("Bttltt thicknessAclaidth(mas 
mayLoc3i][j])nc.(25e)=sTkicz L_ML.
_+25e)ist:ncz L_ML.
_/c.lssyNumTicksssur
s
= s.laya LabeyAxisr ==(

LmTPC oss
}
yC.==(
nnc.l("yLocsoyC.==(
nnc.l-ist:nTICK_LENGTH ("yLocnc.lse) 
Tlaya LabeyTsckaya CssTITi LabeyAxisr ==(

LmTPC otw=2ryC.==(
nnc.l-ist:nTICK_LENGTH-4("yLocsoanchornnc.ls'ufE,	\N ==List 
= sssss(mashecke$tt (mas rrrrrrrrrrrrrrrrrrrrrrrrrrr)*(
= s.2g"%r(=sTkicz L_ML.
_+25-yLocn*c.lssyMax/=sTkicz L_ML.
_)(
= s)ncoPC li(
yAxisr ==(

LmTPC oss
}
yC.==(
nnc.l-1,25eyC.==(
nnc.l-1,=sTkicz L_ML.
_+25)= s)ncoPC li(
yAxisr ==(

nc.
ur
sTITi

o=s= r
ssruot2ex.laya Objh d y axis ticks3Labetickslya Cst):nc.lsex.laya Obj 
= 3i][cornlr>WTographx.laya Obcornlrr ==(
= s)nc.lsssss
= s.laya ss(=c.lse) p	 w't,  yC.==(
nnc.l("BML.
__(21,"Bttltt thicknessAclaidth(mascornlrr ==(

LmTPC oss
}
yC.==(
nnc.l-1,0eyC.==(
nnc.l,claidth(mascornlrr ==(

ludiu>s(xdthhtAsrsx.laya Objtop spacerrserFr ==c.lssxSpacer)nc.lsssss
= s.laya ssTB$tt s25p	 w't, s ==Scz List):sTbg=c.lse) et):nc.lseIGHT xSpacer
nc.
ur
sTITi

olss2)= s)ncoPC li(
ySpacer)nc.lsssss
= s.laya ssT w't, 25("BML.
__(=sTkicz L_ML.
_sTbg=c.lse) et):nc.lseIGHT ySpacer
nc.
ur
sT1ThhtA3s ==Siz List $t[(ve#lii3up
iz LAsncrFr ==s()c.lssiz LAsnc= s)nc.lsssss
= s.laya ss(=c.lse) p	\N ==List 
= sssss(mashecke$tt (Bttltt thicknessAc= w't,lsss ==Scz List):sTBML.
__()ist:ncz L_ML.
_erFr ==s()c.lssiz LAsnc__c.
ur
sT1t r"(A2)(mashecke$tt (sx.laya Obj# ---- END GUI SETUP ----ist $tn.TopddPost .laya s=ataTu2.1th) vdecuet""ossss
vs(
Adds3L post  ad=ileuiz L.s"Lleuou2.1Nlhould ListaindL post  (x,y) ad=pdd.) vdecuet""ossss
vs(
ifs=ataTu2.1e) 
>oc.lssxMax)
mas=ataTu2.1e1 
>oc.lssyMaxlsSCALE_HEE_HE

-=ataTu2.1e) 
>oc.lssxMaxon.Checke$tt (masoldXMax)ncc.lssxMaxn.Checke$tt (masc.lssxMax)nc2.0*=ataTu2.1e) n.Checke$tt (masc.lssrelya CXAxis.laidth(mas(mas

-=ataTu2.1e1 
>oc.lssyMaxlsSCALE_HEE_HE(masoldYMax)ncc.lssyMaxn.Checke$tt (masc.lssyMax)nc2.0*=ataTu2.1e1 n.Checke$tt (masc.lssrelya CYAxis.laidth(mas(masc.lssre=,st)ll.laidth(mas(maskidio(masc.lss=,stPost .=ataTu2.1e) ,-=ataTu2.1e1 (TuetList[

-ssss) 
oliz LData) > 0lsSCALE_HEE_HE)nc.l=,stes
}
 
oliz LDatas"))1]+so 
oliz LDatas"))11 ,-=ataTu2.1e) ,-=ataTu2.1e1 (TuetList[c.lssiz LDatasTITi=ataTu2.1]st $t[(vertex.) ==, s ActivDiag(Tkidion.TopddPost s.laya s=ataTu2.1=verth) vdecuet""ossss
vs(
Adds3L lerVaWTopost s ad=ileuiz L.s"Eachuou2.1Nt rdataTu2.1=verNlhould ListaindL post  (x,y) ad=pdd.) vdecuet""ossss
vs(
 
mapost s t rdataTu2.1=verlsSCALE_HEE_HE)nc.lpddPost .post s(TuetList[kidion.ToxToss
= s.laya sxth) vdecuet""ossss
vs(
Conv 
us3La x eak"  ad=p pix CllocleCan=an=ileuldeList) vdecuet""ossss
vs(
>
= s(  + (sc.lssiz LAsnc_c_(
=" w't,"))/HEIGHxMax)*xTkidion.ToyToss
= s.laya syth) vdecuet""ossss
vs(
Conv 
us3L y eak"  ad=p pix CllocleCan=an=ileuldeList) vdecuet""ossss
vs(
>
= s  + (sc.lssiz LAsnc_c_(
="BML.
_")) - s(  + (sc.lssiz LAsnc_c_(
="BML.
_"))/c.lssyMax)*yssss
kidion.To=,stPost .laya sx syth) vdecuet""ossss
vs(
D,stsdL post  (x,y) an=ileuldeList) vdecuet""ossss
vs(
c.lssiz LAsnc_cmTPC ooeak( LabexToss
= s.x),a LabeyToss
= s.y),a LabexToss
= s.x),a LabeyToss
= s.y)(Tkidion.To=,stes
}
 
o sx1t y1t xdt y2th) vdecuet""ossss
vs(
D,stsdL al",ian=ileuldeLis Lisnc
thng (x1,y1)3Labe(xdty2t.) vdecuet""ossss
vs(
ifsc.lssal",sOnlsSCALE_HEE_HE)nc.liz LAsnc_cmTPC ols
}
 
olxToss
= s.x1),a LabeyToss
= s.y1),a LabexToss
= s.x2),a LabeyToss
= s.y2),a w't, 1nc.lse) 
Tkidion.Fr ==.__ML.)nc.liz LAsnc_lowum(=set2iz LAsnc_cmTPC ols
}
 
olxToss
= s.x1),a LabeyToss
= s.y1),a LabexToss
= s.x2),a LabeyToss
= s.y2),aC
= s..lse) )width=
= s.redeI
)ll.uet=eh) vdecuet""ossss
vs(
RedeI
sdvelspost s Labeal",sian=ileugraph.s"UsefulE

-oustsxt=ing o
-oustax s cs)nc.st) vdecuet""ossss
vs(
 
maxrds[0t r=set2iz LAsnc_fiut_all.lon.Fr ==.__ML.)nc.liz LAsnc_dectie(xrds[rsx.laya Obctf 3==-1ssss
vs(
 
maou2.1[0t r=set2iz LDatalsSCALE_HEE_HE)nc.l=,stPost .ou2.1[e) ,-ou2.1[eN ==List 
= s

-ctf 3!==-1on.Checke$tt (masrow=2=,stes
}
ctf 1]+sortf 11 ,-ou2.1[e) ,-ou2.1[eN ==List 
= sctf 3==ou2.1[st $t[(vertex.) ==, s ActivDiag(Tkdth=
= s.relya CXAxis.uet=eh) vdecuet""ossss
vs(
Relya Cs-oustx axis.s"UsefulE

-oustsxt=ing o
-oustx axis cs)nc.st) vdecuet""ossss
vs(
newaya Css= nHEIGHxMax*  + (si+1)/c.lssxNumTickss 
maxWidth $t0ncc.lssxNumTickss
c.lse) 
oludixWidth $t0nc.lse) 
olxTsckaya Cssssur
s
= s.laya LabexAxisr ==(

idth 
= s) rRad2xTsckaya Cs[i]p	)*(
= s.2g"%rnewaya Csskidikdth=
= s.relya CYAxis.uet=eh) vdecuet""ossss
vs(
Relya Cs-ousty axis.s"UsefulE

-oustsxt=ing o
-ousty axis cs)nc.st) vdecuet""ossss
vs(
newaya Css= n0]*c.lssyNumTicksc.lse) 
oludixWidth $t0nc0(s ==SyNumTicksssur
s
= s.layanewaya Csski)ncc.lssyMax*  + (sc.lssyNumTicks+1-i)/c.lssyNumTicksc.lse) 
oludixWidth $t0nc.lse) 
olyTsckaya Cssssur
s
= s.laya LabeyAxisr ==(

idth 
= s) rRad2yTsckaya Cs[i]p	)*(
= s.2g"%rnewaya Csskidikdth=
#GUI evLrso
= s.l=  s.SC= s.wrse)ToFiLi.uet=eh) vdecuet""ossss
vs(
Callc. by-oustGUI ad=opendL SaveAss=log Labewrse)-oust=atasrectfsed  n"ileuiz L ad=p  
=it) vdecuet""ossss
vs(
 
=iW ndwc3==okFiListsy= .SaveAs.layanc.lse) 
T iLiNlog)nc 
=iW ndwc ihow(rsx.laya Obtryon.Fr ==.__ML. 
=iPost )ncopen( iLiNlog, "wolur
s
= s.laya 
=iPost  wrse) rRad2xTssncl+ "\t"n sllWidyTssncl+"\nolur
s
= s.laya 
maou2.1[0t r=set2iz LDatalsSCALE_HEE_HElaya 
=iPost  wrse) rtr.ou2.1[e) )l+ "\t"n sltr.ou2.1[e1 )l+ "\nolur
s
= s.laya 
=iPost  Llose.laidth(masexceprlsSCALE_HEE_HEtkMessageBox ihowerror("FiLi Error", "Wrseion oa 
=i fa
=id.olur
s
= s.layaaaaaaaaakidion.ToplsssLl",s.uet=eh) vdecuet""ossss
vs(
Togorksena"iul",siLisnc
thng post s an=Labeoff.) vdecuet""ossss
vs(
ifsc.lssal",sOnlsSCALE_HEE_HE 
maxrds0t r=set2iz LAsnc_fiut_all.lon.Fr ==.__ML.vs(
ifsc.lssiz LAsnc_oyp (xrds)ls= "al",")ords[1]+sodeSSSSSssssc.lssiz LAsnc_idth 
= s) idth,aC
= s..lse) )ords[1]+sodeSSSSSssssc.lssiz LAsnc_lowum(xrds)ur
s
= s.laya Labeal",sOn =ts.getWidthkidion.Fr ==.__ML. 
maxrds0t r=set2iz LAsnc_fiut_all.lon.Fr ==.__ML.vs(
ifsc.lssiz LAsnc_oyp (xrds)ls= "al",")ords[1]+sodeSSSSSssssc.lssiz LAsnc_idth 
= s) idth,aC
= s.0, "bolur
s
= s.laya Labeal",sOn =tltkidion.ToclearDatag):nc.lsSCALE_HE)nc.liz LDatas= n
c.lse) 
oc.lssxMax)nc1.s.getWidthc.lssyMax)nc1.s.getWidthc.lssrelya CXAxis.laidth(masc.lssrelya CYAxis.laidth(masc.lssre=,st)ll.laidth(mas is.se)nncc.ls= "__main__")ords[root)nc.lsssss
Tkg(Tt $troot.= PMdeI
(wi.lsete 
s.dTwoDimPloisNones.gz LNrid="Tes2Ploi",xTsoludlXaya C e)yTsoludlYaya C e)iz L_ML.
_=556= iz List):=647wi.lseludixWidth $t0nc20.lrserFr ==te 
lpddPost .(i, i**2 )st $tte 
lpddPost .(0,0
)st $tte 
lmainloopg(Tcis: 1.7 $"

i, newTkidion
, new-opy
, newmath
, newtkSn pg_Daalog

-yass Layyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyy13656220377Base)tankf40162y7473__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssvas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
=15s, p	 w't, s rNodes, w't, stkMessageBox, w't, stkFiListsy= , w't, stkS w'Listsy= ,/uexs13.56220.Lisx  w't, s*	 w't, s13.56220.7.TwoDimPloi a wTwoDimPloi	 w't, s13.56220.7.Ne) 

= ssa wNe)lumn=i	 w't, s13.56220.7.Hst RI a wHst RI	 w't, s13.56220.7.A.scahis.lssua wA.scahis.lss	 w't, s13.56220.7.Arch.lssua wArch.lss,s, p	 wNNSetthngsstsy= (tkS w'Listsy= .stsy= sssss
= s.laya CanvasList[]nc.lsssvas 

=oll Laya s")nc.l.lsrye) 
s.dr("Learnhng ret(epsilon)",vas 

=2setEpsilonssvas 

=.epsilonss.lsssss
lumhngaoiagenLrse
N ==List 
= sssss(mashecke$tlambda eak:s0.t  
= lambda ear:sst .ear)_(
= )
N ==List 
= sssss(mashecke$t"Vak"  murVabe3La ssssger gmTPC mao
= s0.ol
N ==List 
= sssss(mashecke$("Relii3limi2 evas 

=2setReliiLimi2ssvas 

=.reliiLimi2ss.lsssss
lumhngaoiagenLrse
N ==List 
= sssss(mashecke$tlambda eak:slak >= 
= lambda ear:sst .ear)_(
= )
N ==List 
= sssss(mashecke$t"Vak"  murVabe3La ssssger gmTPC mao
= sist
quak  oa0.olawScale(
=llWidLss
=e) 
s.dr("Learn evas 

=2setLearnhngssvas 

=.learnhngss)nc.lsss, vaoiagenLrsel
N ==List 
= sssss(mashecke$("Batch modn",vas 

=2setBatchssvas 

=.batchss)nc.lsss, vaoiagenLrsel
N ==List 
= sssss(mashecke$("Ordered  nputs",vas 

=2setOrderedInputsssvas 

=.orderedInputsss)nc.lsss, vaoiagenLrselawScale(
= Scale(
=#lii3ileuwid_(
 
= s):ncsc.lse) 
oludigenamTu2.1Nt r)nc.l.lsrye) 
+llWidLss
=e) 
lsSCALE_HEE_HEgenamTu2.1[3]) 
urgenamTu2.1[2NsSCALE_HEtkS w'Listsy= .stsy= ssssvdeListsy= []nc.lsssssolu="Cs)nc. se) 

= Setthngs 
ust[-1].gs):ncn.Tobody 

= s.genLrses):nc.lse)
=0c.lse) 
oludigenamTu2.1Nt r)nc.l.lsrye) 
on.Checke$tt st += [Laya Ca]nc.lss)*(
=genamTu2.1[0])oludiu>s(xi,r"(th)=0,stickynnc.ls'ufWet):nc.lsett st += [LElsry(]nc.lssss*(

= s):nc.genamTu2.1[3])oludiu>s(xi, r"(th)T1t stickynnc.ls'ufWet):nc.lselse)
sTIT1t[-1].set(vde):nc.lse)
=0c.lse) 
oludigenamTu2.1Nt r)nc.lLss
=e) 
lsSCALE_HEE_HEdthpaya Clssst += [Laya Ca]nc.lssss*(
=genamTu2.1[0])oludiu>s(xi,r"(th)=2,stickynnc.ls'ufWet):nc.lsett st += [Lsss
= s.updh]nc.lsss
= s):nc.genamTu2.1[3])oludiu>s(xi, r"(th)T3t stickynnc.ls'ufWet):nc.lselse)
sTIT1ts):ncn.Tolaki==, (nvas s):nc.lse) 
magenamTu2.1Nt r)nc.l.lsrye) 
on.Checke$tt tryon.Fr ==.__ML.....
= _(
ienamTu2.1[3]n.Fr ==.__ML.....conv 
shhiv= ienamTu2.1[5]n.Fr ==.__ML.....boundssss
=v= ienamTu2.1[4]n.Fr ==.__ML.....

-lLisboundssss
=(conv 
shhi.eardion.Checke$tt (mastt tkMessageBox ihowerror(ssolu=keye)message.genamTu2.1[6N ==List 
= sssssssss>
= s0N ==List 
= sexcepr.Vak" Erroron.Checke$tt (masdkMessageBox ihowerror(ssolu=keye)message.genamTu2.1[6N ==List 
= sssss>
= s0N

= sssss>
= s1ts):ncn.Toapply(nvas s):nc.lse) 
magenamTu2.1Nt r)nc.l.lsrye) 
on.Checke$tt 
= _(
ienamTu2.1[3]n.Fr ==.__ML.conv 
shhiv= ienamTu2.1[5]n.Fr ==.__ML. 
uFun
thhiv= ienamTu2.1[1]n.Fr ==.__ML. 
uFun
thhi(conv 
shhi.eardit[-1].set(vde):nc.lse)ludigenamTu2.1Nt r)nc.lLss
=e) 
lsSCALE_HEE_HE
= _(
ienamTu2.1[3]n.Fr ==.__ML. 
uFun
thhiv= ienamTu2.1[1]n.Fr ==.__ML. 
uFun
thhi(ear)_(
= )N ==List 
= sssss(mashecke$t .gs, p	 w7Basessss
= s.laya CanvasLis s):nc.lse)#.ls'ua.scae modn causes plem[st $t[(vertex..ls'ua.scae =ts.getWidth):nc.lse)#referentp r oaiz L[st $t[(vertex.TSSPloi = Nonest $t[(vertex.RMSPloi = Nonest $t[(vertex.pCorslquPloi = Nonest $t[(vertex.hst RI.lsssssn{}st $t[(ve)nc.lprch.lssu= Nonest $t[(vertex.a.sca.lssu= Nonest $t[(ve):nc.lse)#iensed ce 

=l Laya s")nc.lne) 

= sssnNe) 

= s.Ne) 

= s(s(xd 

:nc.lse)#=atas
= s):ncsc.lse) 
ortex.TSSDatas= n
c.lse) 
oc.lssRMSDatas= n
c.lse) 
oc.lssiCorslquDatas= n
caidth(masc.lssroot)nc.lsssss
Tkg(Tt $t(masc.lssroot sssnc."7 et):nc.lseIGHT root slsiz):nc(0,0
u):nc.lseIGHT root ptor"(("WM_DELETE_WINDOW",a Labe
= s.lW ndwcClose
ur
s
= s.so --BEGIN visuak= s.lu):nc.lseIGHT visuak= s.l)nc.lsssss
= s.laya s.root(Tt $tttttst += [Laya Canvas visuak= s.lp	)*(
= Visuakiz)thhivTools:"
N ==List 
= sssss(masheG) + 
= s.PADDIN4nc.lse) 
)
nc.
ur
sTITi

oth)=0, s.setSyruot2= stickynnc.ls'ufW)st $t[(ve):nc.lse)# 
uup opthhis)ludibasico=atasiz L[st $t[(vest += [Laya Canvas visuak= s.lp	)*(
= Ploi:")
nc.
u

oth)=0, r
sT1t stickyn nc.ls'ufW)st $t[(vertex.TSSsss
=v= st += [Lsss
= s.updhnvas visuak= s.lp	)*(
= Show.TSS Ploi",)lumnspa)ncc.lss
= s.lTSSBox)st $t[(vertex.TSSsss
=
nc.
u

oth)=1,r
sT1t stickynnc.ls'ufWet):nc.lserow=2RMSsss
=v= st += [Lsss
= s.updhnvas visuak= s.lp	)*(
= Show.RMS Ploi",)lumnspa)ncc.lss
= s.lRMSBox)st $t[(vertex.RMSsss
=
nc.
u

oth)=1,r
sT2= stickynnc.ls'ufW)st $t[(vec.lssiCorslqusss
=v= st += [Lsss
= s.updhnvas visuak= s.lp	)*(
= Show.% Corslqu  Ploi",N ==List 
= sssss(mashecke$t .gggggggggggggggggggglumnspa)ncc.lss
= s.lPCorslquBox)st $t[(vertex.iCorslqusss
=
nc.
u

oth)=1,r
sT3t stickynnc.ls'ufWet):nc.lse)#opthhis)ludidisplayhng hst RIs=rams	t $t[(vest += [Laya Canvas visuak= s.lp	)*(
= Cisnc
thhisl")
nc.
u

oth)=0, r
sT4= stickynnc.ls'ufNW)st $t[(vec.lsshst RIe) 
Boxlssst += [La) 
boxanvas visuak= s.lp	nvac
tmodn ssst += [LSINGLEsTB$tt s4p	 w't,lss40
u):nc.lseIGHT hst RIe) 
Box
nc.
u

oth)=1, r
sT4= stickynnc.ls'ufNSEWet):nc.lseconBcollDaalog)nc.lsssss
= s.laya s visuak= s.l(Tt $tttttst += [LBcollD(conBcollDaalog,)*(
= Show.Lisnc
thhiv $tt s",N ==List 
= sssss(masheclumnspan=th) cmTPC Hst RI.lss)
nc.
ur
sTITi

oth)=0, s.setSyruot2) Tt $tttttst += [LBcollD(conBcollDaalog,	)*(
= Save vels $tt s",clumnspan=th) saveAllW$tt s)=nc.
ur
sT1t r"(th)=0(Tt $tttttst += [LBcollD(conBcollDaalog,	)*(
= Load vels $tt s",clumnspan=th) loadAllW$tt s)=nc.
ur
sT1t r"(th)=1et):nc.lseconBcollDaalog
nc.
u

oth)=1, r
sT5)= s)ncoPC li(
refslshHst RIe) 
Box(et):nc.lse)#opthhis)ludidisplayhng ileuvas 

=stopology	t $t[(vest += [Laya Canvas visuak= s.lp	)*(
= se) 

= Architc
turel")
nc.
u

oth)=0,r
sT6= stickynnc.ls'ufW)st $t[(vec.lssprchion.RIGHT)nc.lssssss
= s.updhnvas visuak= s.lp	)*(
= D,stuvas 

=sarchitc
ture",N ==List 
= sssss(mashecke$t .ggggggggggggggggglumnspan=th) 
= s.lse) 

=ArchBox)st $t[(vertex.prchion.RI
nc.
u

oth)=1,r
sT6= stickynnc.ls'ufW)s):nc.lse)#opthhis)ludidisplayhng nodn a.scahis	t $t[(vest += [Laya Canvas visuak= s.lp	)*(
= sodn A.scahisl")
nc.
u

oth)=0,r
sT7,stickynnc.ls'ufWet):nc.lsertex.a.scaion.RIGHT)nc.lssssss
= s.updhnvas visuak= s.lp	)*(
= Examl",isodn A.scahis",N ==List 
= sssss(mashecke$t .gggggggggggggggggglumnspan=th) 
= s.lA.sca.lsset):nc.lsertex.a.scaion.RI
nc.
u

oth)=1,r
sT7,stickynnc.ls'ufWet):nc.lse#END - visuak= s.lut):nc.lse#BEGIN - Comnspa)eeak"athhirserFr ==#eeak"athhid= ndwc):nc.lse)row=2 nput= s.l)nc.lsssss
= s.laya s.root(T):nc.lse)
nputaya C= s.l)nc.lsssss
= s.laya s. nput= s.l(Tt $tttttst += [Laya Ca
nputaya C= s.lp	)*(
= Cisx Comnspas:"
eG) + 
= s.PADDIN4nc.lse) 
)
pack(sid nnc.ls'ufLEFLrserFr ==s
nputaya C= s.l
pack(sid nnc.ls'ufTOP,aC
= snc.ls'ufX, expspannc.ls'ufYES)st $t[(ve):nc.lse)#outclu=LabescroelsbarrserFr ==c.lsss*(
= s.l)nc.lsssss
= s.laya s. nput= s.l(Tt $tttttc.lsss*(
Outclu=nc.lsssss
Tw=2r):ncSs*(
= s.lp	 w't,lss40sTBML.
__()10,N ==List 
= sssss(mashecke$t .ggggggst=, nnc.ls'ufDISABLEDp	 rapnnc.ls'ufWORD(Tt $tttttc.lsss*(
Outclu
pack(sid nnc.ls'ufLEFL, expspannc.ls'ufYES,aC
= snc.ls'ufX(Tt $tttttccroelbar)nc.lsssss
Scroelbarr):ncSs*(
= s.lp	lumnspan=th) s*(
Outclu
yview(Tt $tttttccroelbar
pack(sid nnc.ls'ufLEFL,expspannc.ls'ufNO,C
= snc.ls'ufYlt):nc.lserow=2s*(
Outclu
 
= s)ure(yccroel=ccroelbar
 
ult):nc.lserow=2s*(
= s.l
pack(sid nnc.ls'ufTOP,aexpspannc.ls'ufYES,aC
= snc.ls'ufX(T):nc.lse)#.lclu= ox s.SCALE_st += [Laya Canvas  nput= s.lp	)*(
= Cimnspal")
pack(sid nnc.ls'ufLEFLrserFr ==s=th) cimnspaElsry)nc.lsssss
Elsry(ya s. nput= s.l(Tt $tttttc.lsscimnspaElsry.b nd("",a Labe
= s.lCimnspa(Tt $tttttc.lsscimnspaElsry.pack(sid nnc.ls'ufLEFL,expspannc.ls'ufYES,C
= s. et):nc.lse#END - Comnspa)eeak"athhirserFr ==u):nc.lseIGHT root ) ==, s ActivDiag(Tt $t
lse)#overloadhng methods[/uexsse) 

=/SRNords[n.Topdds'uf getWirserF,s) 
bosityV0.lsSCALE_HENas 

=2rdds'uf getWirserF,s) 
bosityV) 
bosity(Tt $tttttc.lss) ==, e

= sure.lsssg(Tkidion.ToLisnc
t('uf ge uexL)lum(rooL)lum=lsSCALE_HENas 

=2Lisnc
t('uf ge uexL)lum(rooL)lum=Tt $tttttc.lss) ==, e

= sure.lsssg(Tkidion.Torgente('uf ge uexL)lum(rooL)lum=lsSCALE_HENas 

=2rgente('uf ge uexL)lum(rooL)lum=Tt $tttttc.lss) ==, e

= sure.lsssg(Tkidion.ToLs)nc.L)lum
= s.nvas(
 uex
= s,eto
= s=lsSCALE_HENas 

=2Ls)nc.L)lum
= s.nvas(
 uex
= s,eto
= s=Tt $tttttc.lss) ==, e

= sure.lsssg(TserFr ==u):ncn.ToploIls'ua.scae(nvas(
eal=lsSCALE_HEpp	 wkdth=
#
= s.l= eList
rrorsiz Lthng codnu):ncn.To) ==, Plois

= s.glo2ssvawTu2.1th) vdecuet

-cloi:N ==List 
= siz L.pddPost .vawTu2.1t)st $tn.Toha s.lTSSBoxasLis s):nc.lse)ifsc.lssTSSPloisur
s
= s.laya LabeTSSPlois+ (troy(lur
s
= s.laya LabeTSSPloi = Nonest $t[(velaya LabeTSSsss
=
+ (vac
t.laidth(maseidion.Fr ==.__ML.)nc.lTSSPloi = TwoDimPloi)TwoDimPloisIGHT roots.gz LNrid="TSS Ploi",))xTsoludlEpoch",)yTsoludlTSS Error", lloseCallback=c.lss
= s.lTSSBox)st $t[(velaya LabeTSSPloispddPost s.laya.TSSData)st $t[(velaya LabeTSSPloisptor"(("WM_DELETE_WINDOW",a Labe
= s.lTSSBox)st $t[(velaya LabeTSSsss
=
(vac
t.last $tn.Toha s.lRMSBoxasLis s):nc.lse)ifsc.lssRMSPloion.Fr ==.__ML.)nc.lRMSPlois+ (troy(lur
s
= s.laya LabeRMSPloi = Nonest $t[(velaya LabeRMSsss
=
+ (vac
t.laidth(maseidion.Fr ==.__ML.)nc.lRMSPloi = TwoDimPloi)TwoDimPloisIGHT roots.gz LNrid="RMS Ploi",)xTsoludlEpoch",)yTsoludlRMS Error", lloseCallback=c.lss
= s.lRMSBox)st $t[(ve_ML.)nc.lRMSPloispddPost s.laya.RMSData)st $t[(ve_ML.)nc.lRMSPloisptor"(("WM_DELETE_WINDOW",a Labe
= s.lRMSBox)st $t[(ve_ML.)nc.lRMSsss
=
(vac
t.last $tn.Toha s.lPCorslquBoxasLis s):nc.lse)ifsc.lsspCorslquPloion.Fr ==.__ML.)nc.liCorslquPlois+ (troy(lur
s
= s.laya LabepCorslquPloi = Nonest $t[(velaya LabepCorslqusss
=
+ (vac
t.laidth(maseidion.Fr ==.__ML.)nc.lpCorslquPloi = TwoDimPloi)TwoDimPloisIGHT roots.gz LNrid="PercLrsoCorslqu",)xTsoludlEpoch",N ==List 
= sssss(mashecke$t .gggggggggggggggggggggggggyTsoludl%oCorslqu",)lloseCallback=c.lss
= s.lPCorslquBox)st $t[(ve_ML.)nc.liCorslquPloispddPost s.laya.iCorslquData)st $t[(ve_ML.)nc.liCorslquPloisptor"(("WM_DELETE_WINDOW",a Labe
= s.lPCorslquBox)st $t[(ve_ML.)nc.liCorslqusss
=
(vac
t.last $t#
= s.l= eListHst RIs=ram codnu):ncn.TorefslshHst RIe) 
Box(sLis s):nc.lse)IGHT hst RIe) 
Box
dectie(0,las s=sTkihst RIe) 
Box
s= s. )st $t[(vertex.Lisnc
thhiDi sssn{}st $t[(vest $t[(veList
dge  n")nc.lvas 

= s.d nserVsur
s
= s.layanewElsry)nc"Fuex: %s To: %ssodeS
dgel/uexV'usnc.l,t
dge.ooV'ufns.l(Tt $tttttlse)IGHT hst RIe) 
Box
insert(0,anewElsry(Tt $tttttlse)IGHT Lisnc
thhiDi s[newElsryi)nc
dgeTkidion.To) ==, Hst RIW$tt s.laya s):nc.lse) 
ma=  n")nc.lhst RI.lsss2eak" s.lon.Fr ==.__ML.

-=lsson.Checke$tt (mas=lsss) ==, .lss.last $t, p	 wCisnc
thhiHst RI(Hst RIsnvarixHst RIsssss
=idion.TosssvdeListsy= []nc.lsssedgeoll Laya s"lse)IGHT 
dge nc
dgeT Laya s"lse)Hst RIsnvarixHst RIssssvdeListsy= []nc.lsss"W$tt s[/uexs% r oa%ssodeS
dgel/uexV'usnc.l,t
dge.ooV'ufns.l(,	\N ==List 
= sssss(mashecke$tt (mas rr
dge.Lisnc
thhi) $tt p	/uexAxisaya C="Fuex\n%ssodeS
dgel/uexV'usnc.l(,	\N ==List 
= sssss(mashecke$tt (mas rrrrrraoAxisaya C="To\n%ssodeS
dgelooV'ufns.l(tivs(se s.s=.To) ==, .lss.laya s):nc.lse)lse)IGHT ) ==, W$tt s.laya.
dge.Lisnc
thhi) $tt (Tkidion.ToLmTPC Hst RI.lss.laya s):nc.lse)curc.lsIndex)ncc.lsshst RIe) 
Box
cur(vac
thhi((Tt $t
lse)))))

-sssscurc.lsIndex) > 0lsSCALE_HEE_HELisnc
tNlog)ncIGHT hst RIe) 
Box
netscurc.lsIndex[0])
sSCALE_HEE_HE

-lLis)nc.lhst RI.lsss2netscisnc
tNlog,0ion.Checke$tt (mas)nc.lhst RI.lsss[cisnc
tNlogi)ncc.lssCisnc
thhiHst RI(IGHT roots.IGHT Lisnc
thhiDi s[cisnc
tNlogi)N ==List 
= sssss)nc.lhst RI.lsss[cisnc
tNlogisptor"(("WM_DELETE_WINDOW",alambda SUBMIcisnc
tNlog:srow=2= (troyHst RI.lss.ns.l(tivs(se= s.+ (troyHst RI.lss.laya, nc.lion.Checke$dthp.lssu= )nc.lhst RI.lsss[nc.l]):nc.lse)IGHT hst RI.lsss[nc.l] = Nonest $t[(vedthp.lsss+ (troy(lust $t# 
= s.l= eListvas 

=sarchitc
tures=ramst $tn.Toha s.lse) 

=ArchBoxasLis s):nc.lse)ifslLis)nc.lprch.lsslsSCALE_HEE_HE)nc.lprch.lssu= Arch.lss.Arch.lss(IGHT roots)nc.lvas 

= s(Tt $tttttlse)IGHT prch.lsssptor"(("WM_DELETE_WINDOW",a Labe
= s.lse) 

=ArchBox)st $t[(veeidion.Fr ==.__ML.)nc.lprch.lsss+ (troy(lur
s
= s.laya Labeprch.lssu= Nonest $t[(velaya Labeprchion.RI
+ (vac
t.laidth(masssssu):ncn.TorefslshArch.lss(IGHT s):nc.lse)ifsc.lssprch.lsslsSCALE_HEE_HE)nc.lprch.lsss+ (troy(lur
s
= s.laya Labeprch.lssu= Arch.lss.Arch.lss(IGHT roots )nc.lvas 

= s(Tt $tttttlse)vs(se= s.+ (troy(sLis s):nc.lse)IGHT root + (troy(lust $t#
= s.l= eListlumnspa)al",st $tn.Toha s.lComnspa.nvas(
evLrselsSCALE_HEIGHT redislquToW ndwc(lur
s
= s./uexssumhng  w't, ssumhp):nc.lse)comnspa2)ncsumhps'uf 2d mnspaElsry._(
= )N ==List d mnspa1)nc"_reteak="n scomnspa2Tt $tttttc.lsscimnspaElsry.dectie(0, 'end')N ==List prst  ">>> "n scomnspa2Tt $ttttttryon.Fr ==.__ML.exec d mnspa1st $t[(veexceprlsSCALE_HEE_HEtryon.Fr ==.__ML.....exec d mnspa2n.Fr ==.__ML.exceprlsSCALE_HEE_HEist prst  c.lssLismatExceprhhiInfo.laidth(maseidion.Fr ==.__ML.is.sreteak != Nonesssssur
snadonist prst  sreteaksSCALE_HEIGHT redislquToTerminal.last $tn.ToLismatExceprhhiInfo.nvas(
maxTB.lsss=1 s):nc.lse)iw't, ssys,EtracebackN ==List dla,aexc,Etrb=v= sys.excssvfo.laidth(mas

-Llasssdi
t__._(
="se)nncc.") != Nonesssssur
snadonexcNlog)ncLlasss)nncc.lt# asreak exceprhhi objectaidth(maseidion.Fr ==.__ML.excNlog)ncLla lt# o",iaur faklp	numhng exceprhhissSCALE_HEE_HEtryon.Fr ==.__ML.....excArssssnexcsssdi
t__["arss"]n.Fr ==.__ML.excepr KeyErroron.Checke$tt (masexcArssssn("",laidth(masexcTb3==oracebacksLismat_tb(trb=(
maxTB.lssslaidth(mas>
= s"%s: %s %ssodeS
xcNlog,sexcArsse) ,-"i][comnspa)al","last $tn.Towrse) rRad,axrdsion.Checke$dryon.Fr ==.__ML.row=2s*(
Outclu
 
= s)(st=, n'nismal'lur
s
= s.laya Labes*(
Outclu
insert('end',s"%ssodeSxrdsilur
s
= s.laya Labes*(
Outclu
 
= s)(st=, n'dis):ncd'lur
s
= s.laya Labes*(
Outclu
see('end')N ==List exceprlsSCALE_HEE_HEpp	 idth=
= s.redislquToW ndwc(sLis s):nc.lse)# --- savesold sys.stdouts )ys.stderrrserFr ==c.lss)ysstdoutv= sys.stdoutrserFr ==cys.stdoutu= )nc.t# 
=sdL wrse) ) methodrserFr ==c.lss)ysstd
rrors= )ys.stderrrserFr ==cys.stderru= )nc.t# 
=sdL wrse) ) methodrserFr ==dth=
= s.redislquToTerminal.sLis s):nc.lse)# --- savesold sys.stdouts )ys.stderrrserFr ==cys.stdoutu= )nc.s)ysstdoutrserFr ==cys.stderru= )nc.s)ysstd
rrorust $t#
= s.l= eLista.scahis=ram st $tn.Toha s.lA.sca.lss.sLis s #murVabe3overloaded  n"d
rived , p	 N ==List pp	 idth=
= s.refslshA.sca.lss.sLis s):nc.lse)ifsc.lssp.sca.lsslsSCALE_HEE_HE)nc.lp.sca.lss.relii(lust $t#
= s.l=r oasaves $tt sdth=
= s.saveAllW$tt s.laya s):nc.lse) iLiNlog)ncokFiListsy= .vDiaaveas iLi)nnc(et):nc.lse)ifs iLiNloglsSCALE_HEE_HEtryon.Fr ==.__ML.....)nc.s)aveW$tt sToFiLi. iLiNloglur
s
= s.layaexcepr Exceprhhi,t
rron.Fr ==.__ML.....)nc.swrse) erru+ "n Wrseion oa 
=i fa
=id.oludth=
= s.loadAllW$tt s.laya s):nc.lse) iLiNlog)ncokFiListsy= .vDiopen iLi)nnc(et):nc.lse)ifs iLiNloglsSCALE_HEE_HEtryon.Fr ==.__ML.....)nc.sloadW$tt sFuexFiLi. iLiNloglur
s
= s.layaexcepr Exceprhhi,t
rron.Fr ==.__ML.....)nc.swrse) erru+ "n Loadhng /uexs 
=i fa
=id.oludth=
#routl",i oa) ==, s=ramss

-Ls)nc.s occurkidion.To) ==, e

= sure.lsssgsLis s):nc.lse)IGHT ne) 

= sssnNe) 

= s.Ne) 

= s(s(xd 
:nc.lse)IGHT refslshHst RIe) 
Box(et:nc.lse)IGHT refslshArch.lss(et:nc.lse)IGHT refslshA.sca.lss.last $tn.Toha s.lW ndwcClose(sLis s):nc.lse)IGHT root + (troy(lu:nc.lse)IGHT rootu= Nonest $t[(vertex.a.sca.lssu= Nonest $t[(veIGHT hst RI.lsssssn{}st $t[(ve)nc.lRMSPloi = Nonest $t[(vertex.TSSPloi = Nonest $t[(vertex.pCorslquPloi = Nonest $t[(vertex.prch.lssu= Nones $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssss13656220377R13.tankf05375y7715__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssvas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
=5s, p	 w't, s rNodes,/uexs13.56220.Lisx  w't, s*	 w't, s13.56220.7.A.scahis.lssua wA.scahis.lss	 w't, s13.56220.7.7Baseua w7Base,s, p	 wR13GUIBase(7Base)7Basesssss
= s.laya CanvasLis s):nc.lse)7Base)7BasessssvdeListsy=(Tt $tttttst += [Laya Canvas roots )*(
= Cistrols:"
eG) + 
= s.PADDIN4nc.lse) 
)
nc.
ur
sTITi

oth)=0, stickynnc.ls'ufWet):nc.lsest += [LBcollD(nvas roots )*(
= Setthngs=0, eN ==List 
= sssss(masheclumnspanlambda:)7Base)NNSetthngsstsy= (IGHT roots )nc.lvas 

= slvas 

=))=nc.
ur
sT1t r"(th)=0= stickynnc.ls'ufW)st $t[(vec.lssvisuak= s.l
ludiu>s(xdt r"(th)=0= stickynnc.ls'ufNSEWet):nc.lse.lsssss
= s.laya s.rootsTB$tt s2 ss(=c0, "bol
nc.
ur
sT3thhtth)=0,stickynnc.ls'ufNSEWet):nc.lseya s. nput= s.l
nc.
ur
sT4,r"(th)=0= stickynnc.ls'ufNSEWet):nc.lsertex.propNum =ts.getWidth):nc.n.Toha s.lA.sca.lss.sLis s):nc.lse)ifslLis)nc.lp.sca.lsslsSCALE_HEE_HEtryon.Fr ==.__ML.....)nc.sa.sca.lssu= A.scahis.lss.A.sca.lss.sLis roots)nc.lvas 

= s(Tt $tttttlse)excepr L)lumErroron.Checke$tt (mas)nc.swrse) "Error! You murVahavescallc. ploIlputs=Labese
OutclusabeLise ushng ileua.scahis=splay.olur
s
= s.layaaaaa)nc.lp.sca.lss.+ (troy(lur
s
= s.laya....)nc.sa.sca.lssu= Nonest $t[(velaya....)nc.sa.scaion.RI
+ (vac
t.laidth(massssssssssssssur
snadonnc.low=2p.sca.lss.ptor"(("WM_DELETE_WINDOW",a Labe
= s.lA.sca.lsset):nc.lseeidion.Fr ==.__ML.)nc.lp.sca.lss.+ (troy(lur
s
= s.laya)nc.sa.sca.lssu= Nonest $t[(velaya)nc.sa.scaion.RI
+ (vac
t.la):nc.n.Topropag=, (nvas s):nc.lse)IGHT ) ==, GUI(lu:nc.lse)IGHT __, p	 __ __base __[1isppag=, (nvas t):nc.lsertex.propNum TIT1t[-1].setifsc.lssp.sca.lsslsSCALE_HEE_HE)nc.lp.sca.lss.) ==, A.scas.laidth(masc.lss) ==, Hst RIW$tt s.la):nc.n.Tobackprop(nvas s):nc.lse)(
rrort r"rslqu,etotal)u= )nc.s__, p	 __ __base __[1isbackprop(nvas .getWidth):nc.(masc.lssTSSDatasTIT [(rtex.propNum,t
rrorlawScale(
=llWid) ==, Plois

= .TSSPloi,sc.lssTSSDatas")))st $t[(vertex.RMSDatasTITi(rtex.propNum,trtex.RMSError()(
= s)ncoPC li(
) ==, Plois

= .RMSPloi,ertex.RMSDatas")))st $t[(vertex.iCorslquDatasTITi(rtex.propNum,t  + (sr"rslqu)/total)
= s)ncoPC li(
) ==, Plois

= .pCorslquPloi,ertex.iCorslquDatas")))saidth(mas>
= s(
rrortr"rslqu,etotal)Tkidion.To) ==, GUI(sLis s):nc.lse)ifsc.lssrootlsSCALE_HEE_HE)nc.lroot ) ==, .laidth(masssssu, p	 w7R13se) 

=(R13GUIBase,ENas 

=sssss
= s.laya CanvasLis s):nc.lse)Nas 

=2sssvdeListsy=(Tt $tttttR13GUIBase2sssvdeListsy=(Tu, p	 w7R13SRNgR13GUIBase,ESRNsssss
= s.laya CanvasLis s):nc.lse)SRN2sssvdeListsy=(Tt $tttttR13GUIBase2sssvdeListsy=(Tuss
= s.lpredi
t('uf ge uexL)lum(rooL)lum=lsSCALE_HESRN2predi
t('uf ge uexL)lum(rooL)lum== s)ncoPC li(
) ==, e

= sure.lsssg(TserFs $taMatt Fiedler"
__lrnversssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssss13656220377Sweep.tankf34073y7__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssvas(Tkidion.Canvas):nc.lsPADDING $t4nc.ls'uf __ML.
__(
=9s, p	/uexs13.56220.Lisx  w't, s*	 w't, s rNodes, w't, stkS w'Listsy= , w't, s13.56220.7.A.scahis.lssua wA.scahis.lss	 w't, s13.56220.7.7Baseua w7Base,s, p	 wSweepGUIBase(7Base)7Basesssss
= s.laya CanvasLis s):nc.lse)7Base)7BasessssvdeListsy=(Tt $tttttrtex.iausedFlssu= s.getWidthc.lssstopFlssu= s.getWidth):nc.lse)#t/iause/stop  s.updsetWidth):nc.lse)cistrol= s.l)nc.lsssss
= s.laya s.root(Tt $tttttlya C= s.l)nc.lsssss
= s.lacistrol= s.l(Tt $tttttst += [Laya Calya C= s.lp	)*(
= Cistrols:"
eG) + 
= s.PADDIN4nc.lse) 
)
pack(sid nnc.ls'ufLEFLrserFr ==slya C= s.l
pack(sid nnc.ls'ufTOP,aexpspannc.ls'ufYES,aC
= snc.ls'ufX(Tt $tttttinnerBcollDaalog)nc.lsssss
= s.lacistrol= s.l(Tt $ttttt Labes6220ion.RIGHT)nc.lsssBcollD(innerBcollDaalogs )*(
= St",clumnspan=th) 
= s.lT6220ion.RI(Tt $ttttt Labes6220ion.RI
pack(sid nnc.ls'ufLEFLrserFr ==s=th) iauseion.RIGHT)nc.lsssBcollD(innerBcollDaalogs )*(
= Pause",N ==List 
= sssss(mashecke$t .gggggggggggggst=, nnc.ls'ufDISABLEDp	lumnspan=th) 
= s.lPauseion.RIrserFr ==s=th) iauseion.RI
pack(sid nnc.ls'ufLEFLrserFr ==s=th) stopion.RIGHT)nc.lsssBcollD(innerBcollDaalogs )*(
= Sop",N ==List 
= sssss(mashecke$t .ggggggggggggst=, nnc.ls'ufDISABLEDp	lumnspan=th) 
= s.lStopion.RIrserFr ==s=th) stopion.RI
pack(sid nnc.ls'ufLEFLrserFr ==sst += [Laya Ca
nnerBcollDaalogs )*(
= Epoch: ")
pack(sid nnc.ls'ufLEFLrserFr ==s=th) epochaya Clssst += [Laya Ca
nnerBcollDaalogs )*(
= 0 et):nc.lseIGHT epochaya C
pack(sid nnc.ls'ufLEFLrserFr ==s=th) setthngsion.RIGHT)nc.lsssBcollD(innerBcollDaalogs )*(
= Setthngs=0",clumnspanlambda:N ==List 
= sssss(mashecke$t .ggggggggggggg  )7Base)NNSetthngsstsy= (IGHT roots )nc.lvas 

= slvas 

=))serFr ==s=th) setthngsion.RI
pack(sid nnc.ls'ufRIGHT(Tt $tttttinnerBcollDaalog
pack(sid nnc.ls'ufBOTTOM,aexpspannc.ls'ufYES,aC
= snc.ls'ufX(T):nc.lse)#p	 emb=i falogs):nc.lse)cistrol= s.l
pack(sid nnc.ls'ufTOP,aexpspannc.ls'ufYES,aC
= snc.ls'ufX(Tt $ttttt#spacerrserFr ==.lsssss
= s.laya s.rootsTB$tt s2 ss(=c0, "bol
pack(sid nnc.ls'ufTOP,aexpspannc.ls'ufYES,aC
= snc.ls'ufX(Tt $tttttc.lssvisuak= s.l
pack(sid nnc.ls'ufTOP,aexpspannc.ls'ufYES,aC
= snc.ls'ufX(Tt $ttttt#spacerrserFr ==.lsssss
= s.laya s.rootsTB$tt s2 ss(=c0, "bol
pack(sid nnc.ls'ufTOP,aexpspannc.ls'ufYES,aC
= snc.ls'ufX(Tt $tttttc.lss nput= s.l
pack(sid nnc.ls'ufTOP,aexpspannc.ls'ufYES,aC
= snc.ls'ufX(Tt $tttttdth=
#overloaded methods[/uexsse) 

=/SRNords[n.Tos6220(sLis s):nc.lse)IGHT h= s.lT6220ion.RI.la):nc.n.Topropag=, (nvas s):nc.lse)#) ==, soustGUI):nc.lse)ifsc.lssrootlsSCALE_HEE_HE)nc.lroot ) ==, .laidth(mas):nc.lse)#hack ad=pllowussssslenhis n")weep)ludigurposes ofaextua.scngo=atau:nc.lse)IGHT __, p	 __ __base __[1isppag=, (nvas t):nc.lseifsc.lssp.sca.lsslsSCALE_HEE_HE)nc.lp.sca.lss.extua.sA.scas.lwkdth=
#s6220 ce 

=l Layn.Tos6220GUI(sLis s):nc.lse)ifsc.lssp.sca.lsslsSCALE_HEE_HE)nc.lha s.lA.sca.lss.et):nc.lsertex.a.scaion.RI
 
= s)(st=, nnc.ls'ufDISABLEDet):nc.lsetssErru= 1.0;eIGHT epochu= 1;etotalCorslqu = s;etotalCout )nc1;t:nc.lse)IGHT resetCout )nc1t:nc.lse)wh
=i totalCout )!= s=Labe\N ==List 
= ssstotalCorslqu * 1.0 / totalCout ) 0lsSCALE_HEE_HE)nc.lTSSDatasTIT [(rtex.epochsstssErr)]n.Fr ==.__ML. 
Wid) ==, Plois

= .TSSPloi,sc.lssTSSDatas")))st $t[(ve_ML. 
WidRMSDatasTITi(rtex.epochssrtex.RMSError()(
= s)ncoPC_ML. 
Wid) ==, Plois

= .RMSPloi,ertex.RMSDatas")))st $t[(ve_ML. 
WidiCorslquDatasTITi(rtex.epochsstotalCorslqu * 1.0 / totalCout )
= s)ncoPC_ML. 
Wid) ==, Plois

= .pCorslquPloi,ertex.iCorslquDatas")))sSCALE_HEeidion.Fr ==.__ML.)nc.lwrse) "Nothhng done.olur
s
= s.ifsc.lssrootlsSCALE_HEE_HE)nc.la.scaion.RI
 
= s)(st=, nnc.ls'ufNORMALludth=
#
= s.l= eLista.scahiss=ramst $tn.Toha s.lA.sca.lss.sLis s):nc.lse)ifslLis)nc.lp.sca.lsslsSCALE_HEE_HEtryon.Fr ==.__ML.....)nc.sa.sca.lssu= A.scahis.lss.A.scaSweep.lss.sLis roots)nc.lvas 

= s(Tt $tttttlse)excepr L)lumError,t
rron.Fr ==.__ML.....)nc.swrse) "Error! You murVahavescallc. ploIlputs=Labese
OutclusabeLise ushng ileua.scahis=splay.olur
s
= s.layaaaaa)nc.lwrse) errlur
s
= s.layaaaaa)nc.lp.sca.lss.+ (troy(lur
s
= s.laya....)nc.sa.sca.lssu= Nonest $t[(velaya....)nc.sa.scaion.RI
+ (vac
t.laidth(massssssssssssssur
snadonnc.low=2p.sca.lss.ptor"(("WM_DELETE_WINDOW",a Labe
= s.lA.sca.lsset):nc.lseeidion.Fr ==.__ML.)nc.lp.sca.lss.+ (troy(lur
s
= s.laya)nc.sa.sca.lssu= Nonest $t[(velaya)nc.sa.scaion.RI
+ (vac
t.la):nc.#
= s.l= eList s.updsst $tn.Toha s.lT6220ion.RI.sLis s):nc.lse)laya)nc.siausedFlssu= s.getWidthlaya)nc.sstopFlssu= s.getWidthlaya)nc.siauseion.RI
 
= s)(st=, nnc.ls'ufNORMALlur
s
= s.laya=th) stopion.RI
 
= s)(st=, nnc.ls'ufNORMALlur
s
= s.laya=th) s6220ion.RI
 
= s)(st=, nnc.ls'ufDISABLEDet):nc.lsesssssSCALE_HEE_HE#clears=atasr"(ac
tc. durhng ileulas  runur
s
= s.laya=th) svdeiakiz .laidth(masssssrtex.clearErrorPlois.la s)ncoPC_ML.tryon.Fr ==.__ML.....)nc.ss6220GUI((Tt $tttttlse)excepr Attri s.eError,t
rron.Fr ==.__ML.....)nc.swrse) "Error!  MurVacall ploIlputs=Labese
OutclusabeLise s6220hng.olur
s
= s.layaaaaa)nc.lwrse) errlusSCALE_HEE_HE#lii3 s.updseLabeflssssback aftl=r 6220  
=clude[st $t[(ve.lseifsc.lssrootlsSCALE_HEE_HE):nc=th) s6220ion.RI
 
= s)(st=, nnc.ls'ufNORMALlur
s
= s.laya....)nc.siauseion.RI
 
= s)(st=, nnc.ls'ufDISABLEDet):nc.lsessssvs(
)nc.siauseion.RI
 
= s)()*(
= Pause"et):nc.lsessssvs(
)nc.sstopion.RI
 
= s)(st=, nnc.ls'ufDISABLEDet):nc.lsessssvs(
)nc.siausedFlss=saidth(masssssvs(
)nc.sstopFlss=0ast $tn.Toha s.lPauseion.RI.sLis s):nc.lse)ifslLis)nc.liausedFlsson.Fr ==.__ML.)nc.siausedFlssu= 1t[-1].set(vde 
Wids6220ion.RI
 
= s)(st=, nnc.ls'ufDISABLEDet):nc.lsessss=th) stopion.RI
 
= s)(st=, nnc.ls'ufNORMALlur
s
= s.laya=th) iauseion.RI
 
= s)()*(
= Relume"et):nc.lseeidion.Fr ==.__ML.)nc.lpausedFlssu= s.getWidthlaya)nc.siauseion.RI
 
= s)()*(
= Pause"egetWidthlayaast $tn.Toha s.lStopion.RI(sLis s):nc.lse)IGHT stopFlssu= 1
idthlaya)nc.siausedFlssu= s.getWidthc.lsss6220ion.RI
 
= s)(st=, nnc.ls'ufNORMALlur
s
= s.)nc.siauseion.RI
 
= s)(st=, nnc.ls'ufDISABLEDet):nc.lse)nc.sstopion.RI
 
= s)(st=, nnc.ls'ufDISABLEDet):nc.#) ==, s3epochslya Cst $tn.To) ==, Epochaya C.sLis s):nc.lse)IGHT epochaya C
 
= s)()*(
= %dsodeSrtex.epochs(tivs(se= s.clearErrorPlois.sLis s):nc.lse)IGHT TSSDatas= n
c.lse) 
oifsc.lssTSSPloisur
s
= s.laya LabeTSSPloisclearDatag)st $t[(vertex.RMSDatas= n
c.lse) 
oifsc.lssRMSPloion.Fr ==.__ML.)nc.lRMSPloisclearDatag)st $t[(vertex.iCorslquDatas= n
c.lse) 
oifsc.lsspCorslquPloion.Fr ==.__ML.)nc.liCorslquPloisclearDatag)sst $tn.Toha s.lW ndwcClose(sLis s):nc.lse)7Base)7Basesha s.lW ndwcClose(sLis ):nc.lse)IGHT stopFlssu= 1
idthlayau, p	 w7Sweepse) 

=(SweepGUIBase,ENas 

=ssh):nc.n.Toaya CanvasLis s):nc.lse)Nas 

=2sssvdeListsy=(Tt $tttttSweepGUIBase2sssvdeListsy=(Tt $tttttu, p	 w7SweepSRNgSweepGUIBase,ESRNsssss
= s.laya CanvasLis s):nc.lse)SRN2sssvdeListsy=(Tt $tttttSweepGUIBase2sssvdeListsy=(Tsss
= s.lpredi
t('uf ge uexL)lum(rooL)lum=lsSCALE_HESRN2predi
t('uf ge uexL)lum(rooL)lum== s)ncoPC li(
) ==, e

= sure.lsssg(T is.se)nncc.ls= "__main__")ords[n.Tos (tXORBatch.lon.Fr ==._IGHT7Sweepse) 

=(== s)ncoPCnspddThre.L)lums(2, 2, 1== s)ncoPCnsploIlputs([[0.
= 0.
],N ==List 
= sssss(mash[0.
= 1.
],N ==List 
= sssss(mash[1.
= 0.
],N ==List 
= sssss(mash[1.
= 1.
]]== s)ncoPCnsploTargets([[0.
],N ==List 
= sssss(mashh[1.
],N ==List 
= sssss(mashh[1.
],N ==List 
= sssss(mashh[0.
]]== s)ncoPCnsploRe't, R=, .100== s)ncoPCnsploBatch.1== s)ncoPCnsrelii(lu s)ncoPCnsploEpsilon(0.5lu s)ncoPCnsploMomLrsum(.975lu s)ncoPCords[n.Tos (tXORNonBatch.lon.Fr ==._IGHT7Sweepse) 

=(== s)ncoPCnspddThre.L)lums(2, 2, 1== s)ncoPCnsploIlputs([[0.
= 0.
],N ==List 
= sssss(mash[0.
= 1.
],N ==List 
= sssss(mash[1.
= 0.
],N ==List 
= sssss(mash[1.
= 1.
]]== s)ncoPCnsploTargets([[0.
],N ==List 
= sssss(mashh[1.
],N ==List 
= sssss(mashh[1.
],N ==List 
= sssss(mashh[0.
]]== s)ncoPCnsploRe't, R=, .100== s)ncoPCnsploBatch.0== s)ncoPCnssvdeiakiz .laidth(masnsploEpsilon(0.5lu s)ncoPCnsploMomLrsum(.975lu s)ncoPCnss6220g(TserFr ==u):ncn.Tos (tAND.lon.Fr ==._IGHT7Sweepse) 

=(== s)ncoPC#nsploSeed(114366.64== s)ncoPCnspdd(L)lum(' nput',2)) Tt $tttttnspdd(L)lum('outclu',1)) Tt $tttttnsLisnc
t(' nput','outclu') Tt $tttttnsploIlputs([[0.
=0.
],[0.
=1.
],[1.
=0.
],[1.
=1.
]]= = s)ncoPCnsploTargets([[0.
],[0.
],[0.
],[1.
]]= = s)ncoPCnsploEpsilon(0.5l = s)ncoPCnsploTolsPrgan(0.2l = s)ncoPCnsploRe't, R=, .5l = s)u):ncn.Tos (tSRNglon.Fr ==._IGHT7SweepSRNgl= s)ncoPC#nsploSeed(114366.64== s)ncoPCnspddSRNL)lums(3,2,3== s)ncoPCnspredi
t(' nput','outclu')= s)ncoPC lq1)nc[1,
=0= 0,1=0= 0,0,1]= s)ncoPC lq2)nc[1,
=0= 0,0,1= 0,1=0]Tt $tttttnsploIlputs([ lq1,C lq2]== s)ncoPCnsploLearnDurhngSequentp(1== s)ncoPCnsploRe't, R=, .75lu s)ncoPCnsploEpsilon(0.1== s)ncoPCnsploMomLrsum(0== s)ncoPCnsploBatch.1== s)ncoPCnsploTolsPrgan(0.25lu s)ncoPCnsploStopPercLrs(0.7== s)ncoPCnsploReliiEpoch(2000== s)ncoPCnsploReliiLimi2(0== s)ncoPC#nsploIls'ua.scae(1== s)ncoPC#ns) 
bosity)nc3
u):ncn.Tos (tAutoAgent.lon.Fr ==._IGHT7Sweepse) 

=(== s)ncoPC#nsploSeed(114366.64== s)ncoPCnspddThre.L)lums(3,2,3== s)ncoPCnsploIlputs([[1,
=0],[0,1=0],[0,0,1],[1,1=0],[1,0,1],[0,1=1],[1,1=1]]== s)ncoPCnsrgente(' nput','outclu')= s)ncoPCnsploRe't, R=, .25lu s)ncoPCnsploEpsilon(0.1== s)ncoPCnsploMomLrsum(0.9== s)ncoPCnsploBatch.1== s)ncoPCnsploTolsPrgan(0.25lu s)ncoPCnsploStopPercLrs(0.9== s)ncoPCnsploReliiEpoch(1000== s)ncoPCnsploReliiLimi2(2)
u):ncn.Tos (tRAAM.lon.Fr ==._#oLmTPC  ce 

=on.Fr ==._raamGHT7SweepSRNgl= s)ncoPC#raamsploSeed(114366.64== s)ncoPCraamsploPats'uns({"john"  : [0, 0, 0, 1],N ==List 
= sssss(mashhhhhh"likes" : [0, 0, 1= 0],N ==List 
= sssss(mashhhhhh"mary"  : [0, 1, 0, 0],N ==List 
= sssss(mashhhhhh"is" : [1, 0, 0, 0],N ==List 
= sssss(mashhhhhh})= s)ncoPC iz GHTssssraamsgloPats'un("john")== s)ncoPCraamspddSRNL)lums(s= s,e iz G* 2, s= s=Tt $tttttraamspdd( L)lum("outcist*(
",e iz G* 2) =Tt $tttttraamsLisnc
t("hidden",e"outcist*(
"=Tt $tttttraamspgente(' nput', 'outclu')= s)ncoPCraamspgente('cist*(
', 'outcist*(
'== s)ncoPCraamsploIlputs([ [ "john",h"likes",h"mary" ],N ==List 
= sssss(mashhhhh[h"mary",h"likes",h"john" ],N ==List 
= sssss(mashhhhh[h"john",h"is",h"john" ],N ==List 
= sssss(mashhhhh[h"mary",h"is",h"mary" ],N ==List 
= sssss(mashhhhh]== s)ncoPC#tvas 

=slearnhng ienames'us:= s)ncoPCraamsploLearnDurhngSequentp(1== s)ncoPCraamsploRe't, R=, .10== s)ncoPCraamsploEpsilon(0.1== s)ncoPCraamsploMomLrsum(0.0== s)ncoPCraamsploBatch.0== s)ncoPC# endhng crse)ria:= s)ncoPCraamsploTolsPrgan(0.4== s)ncoPCraamsploStopPercLrs(1.0== s)ncoPCraamsploReliiEpoch(5000== s)ncoPCraamsploReliiLimi2(0==u):ncn.Tos (tSRNPredi
tAutoglon.Fr ==._IGHT7SweepSRNgl= s)ncoPC#nsploSeed(114366.64== s)ncoPCnspddSRNL)lums(3,3,3== s)ncoPCnspdd(L)lum('pgentInput',3)== s)ncoPCnsLisnc
t('hidden', 'pgentInput'== s)ncoPCnsrgente(' nput', 'pgentInput'== s)ncoPCnspredi
t(' nput', 'outclu')= s)ncoPCnsploIlputs([[1,
=0= 0,1=0= 0,0,1= 0,0,1= 0,1=0, 1,
=0]]== s)ncoPCnsploLearnDurhngSequentp(1== s)ncoPCnsploRe't, R=, .25lu s)ncoPCnsploEpsilon(0.1== s)ncoPCnsploMomLrsum(0.3== s)ncoPCnsploBatch.1== s)ncoPCnsploTolsPrgan(0.1== s)ncoPCnsploStopPercLrs(0.7== s)ncoPCnsploReliiEpoch(2000== s)ncoPCnsploReliiLimi2(0== s)ncoPCn2setOrderedInputs.1==u):ncn.Tos (tCs)nc.L)lum
= s.lon.Fr ==._IGHT7Sweepse) 

=(== s)ncoPCnspddThre.L)lums(3,3,3== s)ncoPCnsprchion.RI
invok .laidth(mas iz GHTtkS w'Listsy= .asc.ls'gum("Cs)nc. hidden l)lums iz ",h"Els'uanew hidden l)lums iz ",hminvak" =0== s)ncoPCnsprchion.RI
invok .laidth(mastryon.Fr ==.__ML.# exceprhhi thrown[/uexsLs)nc.
= ss n"Cisnc
thhi , p	 N ==List coPCnsLs)nc.L)lum
= s.'hidden', s= s=Tt $tttttexcepr L)lumError,t
rron.Fr ==.__ML.prst  errrserFr ==nsprchion.RI
invok .laidth(masssssu):ncn.To=spatchToTest.lon.Fr ==._index)ncst .s (te) 

cur(vac
thhi(([0])
.Fr ==._calle) 
[index]g(TserFr ==u):ncroot)nc.lsssss
Tkg(Tt $ts (te) 
lssst += [La) 
boxaroots )ncc
tmodnnnc.ls'ufSINGLEsT w't,=50==u):ncl) 
Bon.RIGHT)nc.lsssBcollD(roots )*(
= Runts (t",clumnspan=spatchToTest(Tt $t)nnce) 
lss["Test XORs n"batch modn",N ==List 
= sssss"Test XORs n"non-batch modn",N ==List 
= sssss"Test AND",N ==List 
= sssss"Test SRN",N ==List 
= sssss"Test auad=pgenthhi",N ==List 
= sssss"Test RAAM",N ==List 
= sssss"Test SRN = PMlpredi
thhi Labeauad=pgenthhi",N ==List 
= sssss"Test Ls)nchng a l)lum'ss iz "]Tt $tcalle) 
lss[s (tXORBatch,os (tXORNonBatch,os (tAND,os (tSRN,os (tAutoAgent,os (tRAAM,s (tSRNPredi
tAuto,	\N ==List 
= ssssss (tCs)nc.L)lum
= s]Tt $tTt $tListvlog) n"nnnce) 
on.Checke$dt(te) 

insert(.lsssss
END,ons.l(Tt $tttttdt(te) 

pack((Tt $tttttl) 
Bon.RI
pack((Tt $tttttttttttttu):ncroot.mainloop.la $taMatt Fiedler"
__lrnversssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssss1365622037sssvdeLi.tank644f00000752152467035__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssss136562203sssvdeLi.tankf2000610426372772an5453__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssss"""
Theibasicob6220   p	 . Aelsb6220s"d
rive[/uexstheli   p	 es.

(c) 2005, PR13ics.org. Licentpd undersoustGNU GPL.
"""

vas(Tkidion.CaDoug p	 B <@brynmawr.edu>ADDING $t4nc.ls'uf __ML.
__(
=34s, p	 w't, sthreadhng,osiogs opsPrtort r"py	 w't, s13.guisLissols

n.Torvg(mye) 
lon.Fr """R
= s ileuarseheme3icorvsPrc. oTorC lquentps ofanumbG $."""
.Fr 

-ssssmye) 
l < 1:= s)ncoPCraili Vak" Error,t"rvg() ars iseLa emptyC lquentp"
.Fr sum =treduan(opsPrtorspdd,hmye) 
lu):ncr
= ssum /s  + (sssssmye) 
l)

n.Tomiddle(mye) 
lon.Fr """R
= s ileumiddle ssss/2) vak"  oTorC lquentps ofanumbG $."""
.Fr # I
-sssls= evLr, ile0 cext onest $t

-ssssmye) 
l < 1:= s)ncoPCraili Vak" Error,t"middle() ars iseLa emptyC lquentp"
.Fr r
= smye) 
[ssssmye) 
l/2]

n.Tomedian(mye) 
lon.Fr """R
= s ileumiddle ssss/s) vak"  oTorC t, ed ,"py oTorC lquentp."""
.Fr # I
-sssls= evLr, ile0 cext onest $t

-ssssmye) 
l < 1:= s)ncoPCraili Vak" Error,t"median() ars iseLa emptyC lquentp"
.Fr tmpe) 
lss,"py.,"py(mye) 
lu):nctmpe) 
. t, (lu):ncr
= stmpe) 
[sssstmpe) 
l/2]

, p	 wB6220gthreadhng.Threadlon.Fr """n.Fr TheiB6220 isetheibasi eListaelsb6220s.n.Fr """n.Fr n.TosssvdeListsy= [nlog)nc'b6220', enchng)nc0, **kwarsslon.Fr ==._"""n.Fr     s

= sistListB6220   p	 .usSCALE_HEYou shoulbese
etheienchng,)ifslLihhng eidi.n.Fr ==._"""n.Fr     threadhng.ThreadssssvdeListsy=(Tt $tttttrtex.debusu= s.getWidthc.lssstack = n
 # useds n"b6220s"= PMlst=, s (BehaviorBasedB6220 LabeFSMB6220 ):nc.lse)IGHT steput )ncs.getWidthc.lsslas Runt=osiog.siog() #hc.Lisds.getWidthc.lssnlog)ncnlog.getWidthc.lssenchng)ncenchngn.Fr ==._if enchng)i elLis0lsSCALE_HEE_HE)nc.l13)ncenchngl13
	c.lssshread)ncs.getWidthc.lssLisdithhi = threadhng.Cisdithhig)st $t[(vertex.needToStopu= 1
idthlaya)nc.sneedToQui )ncs.getWidthc.lssneedToStep)ncs.getWidthc.lssiauseTiog)nc0.1 #hsiogr oasleep.ls n"main loop.c0.1 mea0s"b6220 step.lsrudseLt
max 10/c.Ln.Fr ==._if )nc.l13)!= slsSCALE_HEE_HE)nc.l13.locakiz .laidth(mas# userese
ups):nc.lse)IGHT pro 
=iPerLismantp)ncs.getWidthc.lssiro 
=iut )ncs.getWidthc.lssse
up(**kwarsslaidth(mas# tetheithreads):nc.lse)IGHT start.la):nc.#	 rappl= ehergr oatalk ad=n.Ta 13)ords[n.Tomoae(nvas(
*arsslon.Fr ==._"""Skidt-cut ad=call thei13'ssmoae method."""n.Fr     r
= ssnc.l13.moae(*arsslaidthn.Tos62nsle('uf ge*arsslon.Fr ==._"""Skidt-cut ad=call thei13'sss62nsle method."""n.Fr     r
= ssnc.l13.s62nsle(*arsslaidthn.Torote('uf ge*arsslon.Fr ==._"""Skidt-cut ad=call thei13'ssrote method."""n.Fr     r
= ssnc.l13.rote(*arsslaidthn.TostopasLis s):nc.lse)"""Skidt-cut ad=call thei13'ssstop method."""n.Fr     r
= ssnc.l13.stopalaidthn.TostartD__Mce('uf ge*arss, **keywordslon.Fr ==._"""Skidt-cut ad=call thei13'ssstartD__Mce method."""n.Fr     r
= ssnc.l13.startD__Mce(*arss, **keywordslaidthn.ToremoaeD__Mce('uf ge*arss, **keywordslon.Fr ==._"""Skidt-cut ad=call thei13'ssremoaeD__Mce method."""n.Fr     r
= ssnc.l13.remoaeD__Mce(*arss, **keywordslaidthn.To) ==, .sLis s):nc.lse)"""Skidt-cut ad=call thei13'ss) ==, smethod."""n.Fr     r
= ssnc.l13.) ==, .laidthn.Tomosiss(nvas(
*arsslon.Fr ==._"""Skidt-cut ad=call thei13'ssmosiss method."""n.Fr     r
= ssnc.l13.mosiss(*arsslaidthn.TogetD__Mce('uf ge*arsslon.Fr ==._"""Skidt-cut ad=call thei13'ssgetD__Mce method."""n.Fr     r
= ssnc.l13.getD__Mce(*arsslaidthn.TohasA('uf ge*arsslon.Fr ==._"""Skidt-cut ad=call thei13'sshasA method."""n.Fr     r
= ssnc.l13.hasA(*arsslaidthn.Torlquires(nvas(
*arsslon.Fr ==._"""Skidt-cut ad=call thei13'ssrlquires method."""n.Fr     r
= ssnc.l13.requires(*arsslaidthn.To_draw(nvas(
oprhhis, rnderum=lsSCALE_HE"""Ils'unal draw method."""n.Fr     pp	 N ==Ln.TogetEnchng.sLis s):nc.lse)"""R
= s ileuenchng)pperty."""n.Fr     r
= ssnc.lenchngn.Fr n.Toquit.sLis s):nc.lse)"""SignalsetheithreadithLt
w  ceeds oastop rud0hng.o""n.Fr     rtex.needToStopu= s.getWidthc.lssneedToQui )nc1t[-1].setifsc.lssenchng)Labeselssenchng.guilsSCALE_HEE_HE)nc.lenchng.gui.done)nc1t[-1]n.ToruI(sLis s):nc.lse)o""n.Fr     Ru s ileu562203thread.usSCALE_HEc.lssiauseTiog)des'umhngsshow manyhsiogsorC lLisd i )i ecallc..n.Fr ==._"""n.Fr     c.lssLiulbBeMovhng = s.getWidthwh
=i rtex.needToQui )i elLis1)LabeselssisAlcae( s):nc.lse)laya#prst  "Acquire ----------------------------"):nc.lse)layacut )ncs.getWidthidthwh
=i rtex.isAlcae( )LabeselssLisdithhi.acquire(0)ls= slsSCALE_HEE_HElaya#prst  "r",N ==List 
= ssssscout )TIT1t[-1].set(vde.lse

-Lout )> 2slsSCALE_HEE_HElayaaaaar
= sSCALE_HEE_HEsSCALE_HEE_HEifsc.lssneedToQui lsSCALE_HEE_HElaya#prst  "release()"sSCALE_HEE_HElayaselssLisdithhi.release()sSCALE_HEE_HElaya#prst  "R
=   ----------------------------"):nc.lse)layaaaaar
= sSCALE_HEE_HEelifsc.lssneedToStep)> 0lsSCALE_HEE_HElayaselssneedToStep)-IT1a#protc
tc.vari):ncsSCALE_HEE_HElayaselssneedToStopu= 1 #wielsbg)pickpd up cext pp	 N ==List coPCelifsc.lssneedToStoplsSCALE_HEE_HElaya#prst  "wait.)"sSCALE_HEE_HElayaselssLisdithhi.wait..25l.#	FIX: .5?sSCALE_HEE_HElaya#prst  "release()"sSCALE_HEE_HElayaselssLisdithhi.release()sSCALE_HEE_HElayaifsc.lssLiulbBeMovhnglsSCALE_HEE_HE):nc.lsertex.LiulbBeMovhng = s.getWidthE_HE):nc.lsertex.13.moae(0= 0)sSCALE_HEE_HElayacistinue #css
=tListquitabeLise w  stepsSCALE_HEE_HEsSCALE_HEE_HE#prst  "step.l"sSCALE_HEE_HEsnc.l13.) ==, .laidthE_HEE_HEsnc.lstep.laidthE_HEE_HEsnc.lstepCout )TIT1t[-1].set(vdertex.LiulbBeMovhng = 1t[-1].set(vdesiog.sleep.c.lssiauseTiog)sSCALE_HEE_HEifsc.lsspro 
=iPerLismantp)n= 2lsSCALE_HEE_HElayaselssiro 
=iut )TIT1t[-1].set(vde.lsertex.iro 
=iTotalTiog)+=osiog.siog() -hc.lsslas RunsSCALE_HEE_HElayaifsc.lssiro 
=iut )% 100ls= slsSCALE_HEE_HElayaaaaaprst  "Pro 
=i:"b6220 rud0hngeLt
%.3f steps/ lLisdsodeS  + (sc.lssiro 
=iut ) /ertex.iro 
=iTotalTiog)sSCALE_HEE_HElaya.lsertex.iro 
=iTotalTiog)nc0.s.getWidthE_HE):nc.lsertex.iro 
=iut )ncs.getWidthE_HEifsc.lsspro 
=iPerLismantp)n= 1lsSCALE_HEE_HElayaselssiro 
=iTotalTiog)nc0.s.getWidthE_HE):ncIGHT pro 
=iPerLismantp)nc2t[-1].set(vdertex.las Runt=osiog.siog() #hc.Lisds.getWidthhhhh#prst  "release()"sSCALE_HEE_HEselssLisdithhi.release()sSCALE_HEE_HE#prst  "R
=   ----------------------------"):nc.lse)laya#prst  c.lssneedToStep
E_HEE_HE#prst  "EabeoToruI!"sSCALE_HEE_HEsSCAL s.lpleaseQuit.sLis s):nc.lse)"""SignalsetheithreadithLt
w  ceeds oastop rud0hng.o""n.Fr     rtex.needToQui )nc1t[-1].setsSCAL s.lpleaseStep.sLis s):nc.lse)"""Signalsetheithreadito makeorC tep.o""n.Fr     cut )ncs.getWidthwh
=i rtex.isAlcae( )LabeselssLisdithhi.acquire(0)ls= slsSCALE_HEE_HEcout )TIT1t[-1].set(vde

-Lout )> 2slsSCALE_HEE_HElayar
= sSCALE_HEselssneedToStep)+IT1a#protc
tc. vari):ncsSCALE_HEselssLisdithhi.lLiify(lu:nc.lse)IGHT Lisdithhi.release()sSCALE_HEIGHT pleaseRung(TserFr ==u):ncn.TopleaseStopasLis s):nc.lse)"""SignalsetheithreadithLt
w  ceeds oastop  tepphng ileu13.o""n.Fr     rtex.needToStopu= 1t[-1].setsSCAL s.lpleaseRuI(sLis,ecallback = 0 s):nc.lse)"""SignalsetheithreadithLt
w  ceeds oasta, ssuepphng.o""n.Fr     ifslLis)nc.lisAlcae( s):nc.lse)laya13.guisLissols.y= (13.guisLissols.WARNING,"B6220 threadii elLisalcae3 s.srlquest  oarud was made.ol;n.Fr     rtex.needToStopu= 0n.Fr     ifscallback != slsSCALE_HEE_HEcallbackg(T		aidthn.Tostep.sLis s):nc.lse)"""Thi eisetheimethodithLt
dogsorelsoTothei 

=2"""n.Fr     prst  "ceeds oaoverrides13.56220.B6220lstep.l."=u):ncn.Tose
up(nvas(
**kwarsslon.Fr ==._"""n.Fr     Useresvde method. Call thi einsteabeoTooverloadhng sssvdeLi.n.Fr ==._"""n.Fr     pp	 idth=
= s.makeW ndwc(sLis s):nc.lse)"""MethodithLt
LmTPC sdL w ndwc;eIGen undersB6220 -> Watch.o""n.Fr     iw't, s rNodes,.Fr     rtex.w ndwc)nc.lsssss
Top.lsss()sSCALE_HEIGHT w ndwc.wm_title("B6220 View et):nc.lseIGHT canvas)nc.lsssss
Canvas(IGHT w ndwc, w't,=550,B$tt s300== s)ncoPCIGHT canvas
pack((Taidthn.Torldraw(nvas s):nc.lse)"""Rdraws ileu56220 watch w ndwc."""n.Fr     c.lssLanvas
LmTPC _)*(
(100,130= tags='pie',C
= s'0, "b's )*(
ls'uThi eB6220 ceeds asredraw method!oludth=
= s.+ (troy(sLis s):nc.lse)"""n.Fr     MethoditoaoverridesifsyouoLmTPC  objects (such as"d
_Mces).n.Fr ==._"""n.Fr     pp	 id $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssss136562203c.tank55455210774545534712__r wau __ $taMatt Fiedler"
__lrnverssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssss"""n----------------------------------------------------
An Ariificial Neural Nes 

=sSystem Iw'LimLrshng
Backprop. Pa, soTotheiP13 R13ics Project.
Providpd undersoustGNU General Public Licendi.n----------------------------------------------------
(c) 2001-2006, DlsssopmLrsal R13ics Reliprch Groupn----------------------------------------------------

Thi e 
=i iw'LimLrssetheimajor   p	 eseLabefunchissLis
makhngeLriificial neural vas 

= einiPthon.
"""

vas(Tkidion.CaDoug p	 B <@brynmawr.edu>ADDING $t4nc.ls'uf __ML.
__(
=241s, p	 w't, sNumeric(
math, rLabom,osiogs syss opsPrtor
tryon.Fr  w't, s13.system.shareua wshare
exceprlsSCAL, p	 wshare: debusu= s.ifslLis)hare.debuslsSCALtryon.Fr ==._ w't, ssyco;ssyco.fuls()sSCALE_HEprst  ", NG $t4n %s (syco en):ncd)sodeDING $t4nc..split.)[1]= s)nexceprlsSCALE_HEprst  ", NG $t4n %s (regulspecd)sodeDING $t4nc..split.)[1]=eidion.Fr prst  ", NG $t4n %s (debus; regulspecd)sodeDING $t4nc..split.)[1]=
n.TorlNG $e(ly 
lon.Fr """ R
= s aorlNG $edtl) 
._"""n.Fr r
= s[ly 
[p])ludigeinir)nc.sssssly 
l - 1, -1, -1)]=
n.Topad(ss n, pu= " ",a Lpu= "|",aalcgnt=o"left"lon.Fr """n.Fr R
= s aopaddpd (trhng.n.Fr s)nc(trhngitoapadn.Fr nt=o w't,soTo(trhngitoar
= sSCAL Lpu=  LpaPrtor (4n eabeoTo(trhng)sSCALalcgnt=o)*(
lalcgnmLrs,o"left",o"cLrser",oor "rtt "n.Fr """n.Fr ifsalcgnt==o"left":= s)ncoPCr
= s(s + ( * n))[:n] + sep
E_HEelifsalcgnt==o"cLrser"lsSCALE_HEpos)ncn + sssss)/2 - n/2= s)ncoPCr
= s(( * n) + s + ( * n))[pos:pos)+ n] + sep
E_HEelifsalcgnt==o"rtt ":= s)ncoPCr
= s(( * n) + s)[-n:] + sep

n.TosumMerc.sdi
t1, di
t2lon.Fr """n.Fr Adds s 
 di
thhiariesetogethum(rLabemerc. ein oatheifirst, di
t1.n.Fr R
= s first di
t.n.Fr """n.Fr ludikeyeinidi
t2:= s)ncoPCdi
t1[key])ncmap(lambda a,b: ao+ b, di
t1.get(key, [0,0,
=0]), di
t2[key]lu):ncr
= sdi
t1 # Labealsoar
=  eit, 20  aseuyouowant  oadoasomethhngitoait

n.ToloadNes 

=FuexFiLi. iLinlogs modn)nc'pickle'lon.Fr """n.Fr Loadstvas 

=s/uexsae 
=i ushng pickle. See)Nas 

=2saveNas 

=ToFiLi.)n.Fr """n.Fr ifsmodn)nnc'pickle'on.Fr ==._ w't, sicklen.Fr ==._fpu= open. iLinlog== s)ncoPCnas 

=s= pickle.load(fp)n.Fr ==._fp.close()= s)ncoPCr
= sce 

=l Layelifsmodn)20 ['pl220', 'cisx']:n.Fr ==._fpu= open. iLinlog, "r"(Tt $tttttl)ne)ncfp.readl)ne(== s)ncoPCnas 

=s= Nonest $t[(vewh
=i l)nelsSCALE_HEE_HE

-shng.sta, s= PM("l)lum,")lsSCALE_HEE_HElaya# l)lum [nlog, s= ssSCALE_HEE_HElayatemp [nlog, s= sStru= shng.split.","et):nc.lsessssvs(
nlog)ncnlog.(trhp.laidthE_HEE_HEEEEE iz GHTst .s= sStret):nc.lsessssvs(
nas 

=2addL)lum(nlog, s= set):nc.lsessssvs(
l)ne)ncfp.readl)ne(== s)ncoPCt $t[(vew$tt s = n  + (sf) ludif)20 shng.split.)
= s)ncoPC_ML.....ludiieinir)nc.snas 

=[nlog].s= selsSCALE_HEE_HElayaaaaanas 

=[nlog].w$tt [i])ncw$tt s[i]sSCALE_HEE_HEelifsshng.sta, s= PM("cisnc
thhi,")lsSCALE_HEE_HElaya# cisnc
thhi,e uexL)lum(rooL)lumsSCALE_HEE_HElayatemp [nlogFuex [nlogTou= shng.split.","et):nc.lsessssvs(
nlogFuex [nlogTou= nlogFuex.(trhp.l [nlogTo.(trhp.laidthE_HEE_HEEEEEnas 

=2Lisnc
t(nlogFuex [nlogTolaidthE_HEE_HEEEEEludiieinir)nc.snas 

=[nlogFuex].s= selsSCALE_HEE_HElayaaaaal)ne)ncfp.readl)ne(== s)ncoPCt $t[(veeeeew$tt s = n  + (sf) ludif)20 shng.split.)
= s)ncoPC_ML.....EEEEludijeinir)nc.snas 

=[nlogTo].s= selsSCALE_HEE_HElayaaaaaEEEEnas 

=[nlogFuex [nlogTo].w$tt [i][j])ncw$tt s[j]sSCALE_HEE_HEelifsshng.sta, s= PM("ienames'u,")lsSCALE_HEE_HElayatemp [expu= shng.split.","et):nc.lsessssvs(
exec(exp)C#tvas 

=sisetheineural vas 

= objectsSCALE_HEE_HEelifsshng.sta, s= PM("vas 

=,")lsSCALE_HEE_HElayatemp [vasTypeu= shng.split.","et):nc.lsessssvs(
nasTypeu= nasType.(trhp.l.lowum()sSCALE_HEE_HElayaifsnasTypeu==o"cascorvas 

="lsSCALE_HEE_HElayaaaaa/uexs13.56220.Lascor_ w't, sCascorNe 

=l LayE_HElayaaaaaEEEEnas 

=u= CascorNe 

=()sSCALE_HEE_HElayaelifsnasTypeu==o"vas 

="lsSCALE_HEE_HElayaaaaanas 

=s= Ne 

=()sSCALE_HEE_HElayaelifsnasTypeu==o"srn"lsSCALE_HEE_HElayaaaaanas 

=s= SRNgl= s)ncoPCE_HElayaelsssssssur
snadonnc.lllllraili Attri s.eError,t"unknown[nas 

=stype: '%s'sodenasTypessssur
snadonl)ne)ncfp.readl)ne(== s)ncoPCr
= sce 

=ln.Tondim(n(
*arsslon.Fr """n.Fr Mak sdL multi-dimendhhialeLrray oTorLaboms  + (s. (Repl2tps RLabomArray).n.Fr """n.Fr ifslLisarss: = s)ncoPCr
= s[rLabom.rLabom()Eludiieinixr)nc.sn)
= s)nA = n
 n.Fr ludiieinir)nc.sn)lsSCALE_HEA.applnd(ondim(*arssl l = s)nr
= sA ln.Tondim2(n(
*arsslon.Fr """n.Fr Mak sdL multi-dimendhhialeLrray oTorLaboms  + (s. (Repl2tps RLabomArray).n.Fr Thi eNG $t4n generaC sdrLabomsvak" ss/uexsaepability)distri s.t4n mise approprsPC  Lista Tanhua.scahisfunchi.n.Fr """n.Fr ifslLisarss: = s)ncoPCr
= s[rLabom.gauss(0= 1)Eludiieinixr)nc.sn)
= s)nA = n
 n.Fr ludiieinir)nc.sn)lsSCALE_HEA.applnd(ondim(*arssl l = s)nr
= sA ln.TorLabomArray2(s= s,eboundlon.Fr """n.Fr R
= s aneLrray svdeiakiz ditoarLabomsvak" ssbe Gen -max Labemax.n.Fr """n.Fr ifstype(s= s)ls= type(1 s):nc.lse)Iiz GHT(s= s,(Tt $ts mpu= Numeric.Lrray(ondim(*s= s)l) * (2.0 * boundl= s)nr
= ss mpu- boundln.TorLabomArray(s= s,eboundlon.Fr """n.Fr R
= s aneLrray svdeiakiz ditoarLabomsvak" ssbe Gen -max Labemax.n.Fr """n.Fr ifstype(s= s)ls= type(1 s):nc.lse)Iiz GHT(s= s,(Tt $ts mpu= Numeric.Lrray(ondim(*s= s)l) * (2.0 * boundl= s)nr
= ss mpu- boundl
n.To=spl)lArray(nlog, asT w't, = 0 s):nc."""n.Fr Prst s aneLrray (anyh lquentp oTo  + (s, rally)  oatheiscrGen.n.Fr """n.Fr prst  nlog)+ ": ",N ==Lct )ncs.getWludiieinia:= s)ncoPCprst  "%4.2fsodei,N ==List ifs w't, > s=Labe(ct )+ 1)E%T w't, == slsSCALE_HEE_HEprst  ''sSCALE_HEct )TIT1t
n.TotoStrhngArray(nlog, asT w't, = 0 s):nc."""n.Fr R
= s aneLrray (anyh lquentp oTo  + (s, rally) asorC trhng.n.Fr """n.Fr (trhngi= nlog)+ ": "N ==Lct )ncs.getWludiieinia:= s)ncoPC(trhngiTIT"%4.2fr "odei N ==List ifs w't, > s=Labe(ct )+ 1)E%T w't, == slsSCALE_HEE_HE(trhngiTIT'\n'sSCALE_HEct )TIT1t s)nr
= s(trhngt
n.Towrse)Array(fp, asTdelimu= " ",anClss1 s):nc."""n.Fr Wrse)sorC lquentporCoTo  + (s  oa 
=i possssditoabya 
=i possssr.n.Fr """n.Fr ludiieinia:= s)ncoPCfp.wrse) "%f%ssodeSisTdelim)== s)nifsll:= s)ncoPCfp.wrse) "\nolu
, p	 wL)lumError(Attri s.eError s):nc."""n.Fr Ussditoaindic=, souat a l)lumshasasome_ w'per attri s.eT(s= s,Tt $tsype [etc.).n.Fr """n.Fr 
, p	 wNe 

=Error(Attri s.eError s):nc."""n.Fr Ussditoaindic=, souat a nas 

=shasasome_ w'per attri s.eT(non.Fr l)lumss no cisnc
thhis [etc.).n.Fr """ns, p	 wSRNError(Ne 

=Error s):nc."""n.Fr Ussditoaindic=, souat SRN specific attri s.esorre_ w'per.n.Fr """ns, p	 wNodeon.Fr """n.Fr Ass mpupl2tpitoaholdsvak" ss/udireferentp. I
-given a l)lumsLabeposithhi,eile0Tt $tsheinodn)canebe useds oasetsvak" s(rLabecane) ==, sitc.lssn.Fr """n.Fr n.TosssvdeListsy= [l)lums= None,eposithhis= None,e**keywordslon.Fr ==._c.lss__di
t__["_l)lum"])ncl)lumsSCALE_HEc.lss__di
t__["_posithhi"])ncposithhisSCALE_HEc.lss__di
t__["_attri s.es"])nckeywords.keys.la s)ncoPCludikeyeinikeywordslsSCALE_HEE_HE)nc.l__di
t__[cquire()cistss1attrsss
= s.laya CanvaHEcbe ay(f.Fr "a, ssuepphng.slsSCAsssvde!None,ekeyeinikeywordHEcbe a s)n\nattri s.. iLnas 

=slsSCAsssvd.dthc.lssnlog)wordHEcbe a s)n\natt[l)lums= NoC
 
= slsSCA"_posithhi"])ncpokeys.la s)nslsSCA.lss__di
tkeyeinikeywordHEcbe a s)n\natt%t[(voPCfp.w+ b, slsSCALE_HEE_HE)nc)ncfp.readl)ne(==HEcbe e()cistsswordslaidthn.To) ==, .ng.slsSCAsssvde!None,ekeyeinikeywordkeys.la s)nslsSCA.lss__di
tkeyeinikeywordwordslsSCALE_HEE_HE)nc.l_slsSCAsssvd.ALE_HEE_HE)nc[slsSCA"_posith[j])ncw$tts)ncoPCE_HElayaels
snadonnc.lllllraili At,eileicallad-onlysitc.lssn.Frcan.lssn.Fr n.To.lss__di
,ebe usn.To) ==, .ng.slsSCAsssvde!None,ekeyeinikeywordn] +some_ w's)nslsSCAsssvd.ALE_HEE_keyeinikeywordwordslsSCAsssvd.ALE_HEE_H+some_ w'c[slsSCA"_posith[.l_be us vas 

= objectncoPCE_HElayaelsssss
snadonnc.lllllraili At,e mTPC = s ileuiLnas 

=+some_ w'j])ncw$tts)ncoPCE_HElayaels
snadonnc.lllllraili A(t,eileicallad-only:sheiindi['sssvdNthc'].%s[NUM][(voPCfp.w.lss__di
,ebe usnPCfp.wrse) "\n"""ns, p	 wNodC.wrsewhiPC CALEn
 # .Fr R  oToreilee

Thi e (iStrhC  Lista attri eaili Abias no cTt $tsype [etc.CALE_"""n.Fr itc.lssn.Fr """n.Fr n.Tos 

=2addL	 w'x (s. (hc.lssg)nc0, **kwarsslon.Fr ==._"""n.Fr     ) "\nTheibasic""n.Fr oasthhi,C lqu oToreilshi"])ncpokeysthhihod. pro fic =._"ino + (rguThi euch as"d
_Mces).n.Fr =ng.se(1 <)+ 1)E%T w't, == 
snadot $tttttexce(') "\nTrlqu
= s aneLrruseds e(1 zero.' =2addL)lum(nlog,(vdesioTssss== s)nhc.l.CAii3 = eherlssiausnelsS'uanewusSCALb's)nr= s)nlum(nlog,# ioTssss== s)nhicaE_HEYoedToutomistslsSyokeysdi
t('tri s.e (in E_HEEEEEns 

= slvas 

=)s.getWidthc.lssnlog)ncnlope(1 s)# l)lum [nlogncnlopu- bouWrray(nl# l)lum [nlogncnlotlsesss'Unssnausd',# erlssiausd nc.lr 
=i.Fr l)luvitylum [nlogncnlok""nsss'Unssnausd',# mittexsgncnlotlsesdii eedToi aftl= 'Ccist*(
hi"])ncposithhi(1== s)ncoPCHT steput )ncso$tttttrtex.debusu= so$=2sasss'
hi"])ncposithhiso$Pmp [nttrtex.debusu= coPC#nselssn ton.FrS'uaneed. Backpro= sces=s/utrtex.debusu= froz.""".l.CAiallz.FroPCt $t[(dbiases),nelsS'uanewtedTocoPC#nhi"])ncposithhiw'x (s. (hc.w'x (s. (hi"])ncposithhh.0== s)ncoPCnssvdeiasithh(1=ifyrtex.needToStCALE_HEnr= s)npaPrtoquemas# userese
upscochu= 1;etotalCorslse
upsorslq13
	c.lssshread)ncs.chu= 1;etotalCorsl# miscmas# userese
upiau = s)nro 
=iTotalTiogse
upiax = s)nro 1=iTotalTiogse
upiinc.sa.sca.lro 
=iTotalTiogse
upiaxc.sa.sca.lro 1=iTotalTiogitc.lssn.h.0== s)ncoh=
= s.+ (troy(sLis s):nc.lI.0== s)ncs13.5622, 20reileupl2tpiYoezerookeysT! r0reilels.WAnhi"])ncpoLE_HEn(t= s)n, eaili AhC  Lista a dbias n) "ta_HEE_coPCn Abedsuch as"d
_Mces).n.Fr =l"sSCA(s. ()ncoPCnssvdeiasithhdoPCt $s= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhd "tas= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhweds= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhwedLas$s= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithht= s)nro s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithheailiro s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithha.sa.sca.lro s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhEE_coPCns= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithht= s)nSe 1;etotalCorslse
upa.sa.sca.lSe 1;etotalC ss mpu- b)ncoh=
=,okeyro 
=i s.+ (troy(sLis s):nc.lI.0== s)nc0reilebiasesray svdeiakiz ditols.WAn
 n.Fr [vak"	 w'x]uch as"d
_Mces).n.Fr =ng.keyro = s]""n.Fr  froz."keyeinikeywordslsSCoPCt $s= mpu- boundln.lsssaddL	 sithhiw'x (s. (lse)IGHT gundersoceeds """n.Fr   __lensss
= s.laya CanvasLis s):nc.ls s):nc.lse),C lqu oToreilsols.WAn
sssvd.aya CanvasLis s):nc.lty."""n.Fr  # l)lum [stss1attrsss
= s.laya CanvaHEc"""n.Fr  Ect )TITc.l13.) __s)nin.Fn.Fr n.Toi.laya CanvasLils s):nrenn.Fr neuralruseds a na= s iles s E_HEMces).n.Fr =ng.stypeiFr ifis=th) stopPercLrHEc"""n.Fr (PCE_HElayaelsssssri s.. ir n.TPCE_HElayaelsssss[l)lums= NoiTPCE_HElayaelsssssa.sa.sca.lro se
upa.sa.sca.l[i,h"is",h"mary" ],N eailiro sithheaili[i,h"is",h"mary" ],N t= s)nro sithht= s)n[i,h"is",h"mary" ],N EE_coPCns= sithhEE_coPCn[i,h"is",h"mary" ],N oPCt $s= slsSCoPCt $ [i])ncw$tt s[[[[[.'hidden', )ncoPCE_HElayaels
snadonnc.lllllraili AtexpStep)+ w'Listthod. Call tLnas 

=ie)IGHT ri s..ceeds """n.Fr   E_HAoPC#nsr n.Tobe usn.To) ==, .Mces).n.Fr =Se FrS'uaneedi
oPC#ns.n.Fn
oPC#n.ot $ttsse) "Ebei
oPC#ns.Fr  s ag s(r
#
= s.l= euch as"d
_Mces).n.Fr =l"sSCcoPC#nselbe us vas r     pAoPC#nsr n.(nvas(
**kwarsslon.Fr ==._d= eherlssiausnelsentp. I
t"meoPC#ns.n.Fn
oPC#n.aya CanvasLis s):nc.lty."""n.Fr  coPC#nhi"]).epoci thrown[Fr n.Tosewas 

=[nlogTo].arsslon.Fr ==i thrc.lse)pe(1 Backprosssvd. SusSCALonlyEbei You muML.#ughslon.Fr =ng picklN ==List coPCnsLsuch as"d
_Mces).n.Fr =#r    ws):nc.cuchu 20E_HEs).n.Fr =ng.sewas 
 <)+ 1)E%T w't, == 
snadot $tttttexce(') "\nTas 
 N ==LidiYoezero.'Tosewas 

)E%T w't,iauSe(1 s)iaun.lsssaddL	 sewas 

)E%T w't,biass= mpu- boundlnsewas 
	 sithhiw'x (s. (lslon.Fr =n,(Tt $tPCn(bias ns,(Tt $ts n.Fr iauSe(1), slsSCoPCt $PCnssvdeiasithhweCt $s= bias.lssnlog)ncnlope(1 s)sewas 
lum [nlogncnlopu- bouWrray(nlsewas 
lum [nlogncnlot= s)nSe 1;etotalCorslse
upa.sa.sca.lSe 1;etotalCnlogncnlot= s)nro s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithheailiro s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithha.sa.sca.lro s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhdoPCt $s= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhd "tas= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhEE_coPCns= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhweds= s,(Tt $tzeronc.lsssaddL	 'f'PCnssvdeiasithhwedLas$s= s,(Tt $tzeronc.lsssaddL	 'f'PCe)IGHT eailir oasr= s)npceeds """n.Fr   TS.epochs
= s.laya CanvasLis s):nc.ls s):nc.ayase Sum SquaredsepochokeysthisTest Ls)nioTssss.aya CanvasLis s):nc.lty."""ns,(Tt $tsdd.ntp"
.F(ncnlot= s)nr-asithha.sa.sca.l) *cist""n.Fr   RM.epochs
= s.laya CanvasLis s):nc.ls s):nc.RTserMean SquaredsepochokeysthisTest Ls)nioTssss.aya CanvasLis s):nc.ltsss= slsSCTS.epochs)ncfp.readl)ne(==w't,.sqrt(tsss/)ncnlope(113.mosiss(*ar ==.__MFr n.Tot= s)ncoP.laya CanvasLis s):nc.ls s):nc.lse),C lqu oToreilsousedls.W= s)ncoP Backprot= s)n.aya CanvasLis s):nc.lty."""ns,(Tt $tsdd.ntp"
.Fs,(Tt $tfabs(ncnlot= s)nr-asithha.sa.sca.l)  avgmiddle= ttlmiddle):ncr
ncnlope(113.mosw$tts)ncoPCE_HElayaels
snadot $tttttexce('*arWinndeF)i You mukeysS'uaneefs e(1 zero.'ToRNPredi
tAuto,	\N       xw't, == ncnlope(113.mosw$ttl)ne(==w'xrse, w'xmiddl, avgmiddlCe)IGHT heinoso)ncoPCn eedToc=, susedsso$t possssditoal13.) __s)n n"b6sss
= s.laya CanvaoE_HE.l_slsSCALE_HEE_ tmpe)loTolsPrgand "aoE_HE['iso$Pmp']3.mosw$ttl)ne(==oE_HElum [stss1at)n n"b6sss
= s,E_HEn.To) ==, .ng.E_HE['so$['pl220', 'c == ncnloiso$Pmp [n:n.FrE_HE['so$=2sa']ent' nput','outlume"et):nc.lseeidion.Fiso$Pmp [nttrtex.debusu= ALE_HEE_ wordslaE_HEntrtex.debe)IGHT ro$tceeds """n.Fr   E_HLogoh=
=,ok2saNthc.laya CanvasLis s):nc.lOn.Fc.""so$t possusedss.getk2saNthcuch as"d
_Mces).n.Fr =l"sSCso$ttt1s).n.Fr =l"sSCso$=2sasssk2saNthctrtex.debusu= Aso$Pmp [n:n.Frk2saNthc Atitle("B6methhngMsgoh=
=,omsg.laya CanvasLis s):nc.lLogFr ""essagcuch as"d
_Mces).n.Fr =l"sSCAso$Pmpsll:= smsg.hi"]).epocp)n.Logoh=
=
=[nlogTo].arsslon.Fr ==p)n.c.lse)so$t posuch as"d
_Mces).n.Fr =l"sSCAso$Pmpsfp)n.Fr ==._fp.ct )ncso$tttttrtexr
= s(tLogoh=
=
=[nlogTo].arsslon.Fr = s):nc. + (s, so$t posuch as"d
_Mces).n.Fr =opuncnloso$"et):nc.lseeid= s(trhngt
l"sSCAso$Pmp,asithha.sa.sca.l)Ce)IGHT slsSCALrtexpu- boutceeds """n.Fr   E_HDu- bouWrraysr n.Tobe n.To) ==, .Mces).n.Fr =Se Frncnlopu- bouWrray(lse)""e (rguThi lbe usuch as"d
_Mces).n.Fr =l"sSCpu- bouWrray(nlbe e()cistssEct )TITc
= s.laya CanvasLis s):nc.ls s):nc.(s, ralsr= s= sntsca.lrefs) "\nThod. prouch as"d
_Mces).n.Fr =l.n.Fr """) "\nTLnas: (Kind: %e, Se(1: %d, AoPC#n: %d, Froz."k %d)\nCfp.wet):nc.lseeidion.Fs 

=2aenlok""n, ncnlope(1,asithha.sa.1,asithhfroz.")IT"%4.2fr "odFsithhtHElayae'Oi
t(' n1)E%T w't, == slsSCALE_HEct )TIT1t
n.T' = s)nrrrr', se
upt= s)n,=l"sSCpu- bouWrray)s).n.Fr =l.n.Fr E_HEct )TIT1t
n.T'c.sa.sca.l',asithha.sa.sca.l,=l"sSCpu- bouWrray)IT"%4.2fr "odFsithhtHEla!ae'' nputrrtex.isAli(1== s)nco> 1n1)E%T w't, == slsSCALE_HEct )TIT1t
n.T'epochorrrr', se
upeaili Al"sSCpu- bouWrray)s).n.Fr ="odFsithhi(1== s)nco> 4rrtex.isAltHEla!ae'' nputn1)E%T w't, == slsSCALE_HHEct )TIT1t
n.T'oPCt $srrr', se
upoPCt $ Al"sSCpu- bouWrray)s).n.Fr = == slsSCALE_HHEct )TIT1t
n.T'doPCt $srr', se
updoPCt $ Al"sSCpu- bouWrray)s).n.Fr = == slsSCALE_HHEct )TIT1t
n.T'd "tassrrr', se
up) "ta_Hl"sSCpu- bouWrray)s).n.Fr = == slsSCALE_HHEct )TIT1t
n.T'EE_coPCnsr', se
upEE_coPCn Al"sSCpu- bouWrray)s).n.Fr = == slsSCALE_HHEct )TIT1t
n.T'weds ssrrr', se
upwed Al"sSCpu- bouWrray)s).n.Fr =HEct )TIT1t s .laidth(masssladth=
= s.+ (troy(sLis s):nc.lDu- bouc.lse)) "\nThod. pro  + (s, rally)  oatroy(sLis s):nc.leinia:==============================is s):nc.leinia:=) "\nTLnas: (Kind: %e, Se(1: %d, AoPC#n: %d, Froz."k %d)Cfp.wet):nc.lseeidion.Fs 

=2aenlok""n, ncnlope(1,asithha.sa.1,asithhfroz.")T"%4.2fr "odFsithhtHElayae'Oi
t(' n1)E%T w't, == pu- boundl
n.' = s)nrrrr', se
upt= s)n,=l"sSCpu- bouWrray)s).n.Fr =pu- boundl
n.'c.sa.sca.l',asithha.sa.sca.l,=l"sSCpu- bouWrray)T"%4.2fr "odFsithhtHEla!ae'' nputrrtex.isAli(1== s)nco> 1n1)E%T w't, == pu- boundl
n.'epochorrrr', se
upeaili Al"sSCpu- bouWrray)s).n.Fr ="odFsithhi(1== s)nco> 4rrtex.isAltHEla!ae'' nputn1)E%T w't, == einia:=roy(s, ; pu- boundl
n.'oPCt $', slsSCoPCt $PCnssvdeia == einia:=roy(s, ; pu- boundl
n.'doPCt $', slsSCdoPCt $PCnssvdeia == einia:=roy(s, ; pu- boundl
n.'d "ta', se
up) "taPCnssvdeia == einia:=roy(s, ; pu- boundl
n.'EE_coPCn', se
upEE_coPCnPCnssvdeia == einia:=roy(s, ; pu- boundl
n.'wed', se
upwedntrtex.debee)IGHT a.sa.sca.lrceeds """n.Fr     pAoPC#s.l= etmpec
= s.laya CanvasLis s):nc.ls s):nc.reile
#
= s.l= en  + (st (tmpeabom.m.aya CanvasLis s):nc.lty."""n.Fr  coPC#s.l=  tmpe)l""n.Fr     pAoPC#s.l= ec
= s.laya CanvasLis s):nc.ls s):nc.reile
#
= s.l= en  +Fs,(Tt $)n.Fr Rssditoaabom.m.aya CanvasLis s):nc.lty."""n.Fr  coPC#s.l= ""n.Fr   E_HAoPC#s.l= ec
= sTobe usn.To) ==, .Mces).n.Fr =Se FradTocoPC#s.l= en + (s, middle ss""e (rguThi .:= s)newusSCALb's)nWAn
 n.Fr [,1],uch as"d
_Mces).n.Fr =#ng.slsSC(1=ifyrrtex]""n.Fr  a.sa.sca.lSe 1;=iut )% 100#nc.ltsnadot $tttttexceRNPredi
tA#svdeia == .'c.sa.sca.lAii3 =]""ns= s). AoPC#s.l= e w'y hareadboms s)"""n.Fpsasmhngssuseded. 
= sditoave 
=i:""SkidFr  s ag s(().',asithha.sa.sca.lSe ))E%T w't,n,(Tt $tPCn(sithha.sa.sca.l,=s,(Tt $ts n.Fr LE_HEithha.sa.sca.l))Tobe usns).n.Fr =l"sSCa.sa.sca.lSe 1;ehng.gui.dotmpeAoPC#s.l= ec
= sTo.FruentoPCnsss= i s.+ (troy(sLis s):nc.lCops s coPC#s.l= ensb6220s" (rguThi l.Fr R
tos s):nc.ltp. I
-#
= s.l= euch as"d
_Mces).n.Fr =.Fr R= s,(Tt $ts mpu=s m)s).n.Fr ="od]""nLE_Hs mpuFr ifncnlope(1oPCE_HElayaels
snadot $tttttexceRNPredi
tAuto,	\N   ('Mismaws ino .sa.sca.lA e(1 rtexs'uanew hilsoarSkidFrtmpeAoPC#s.l= ec)'ToRNPredi
tAuto,	\N    (LE_Hs mpuF, ncnlope(1)).needToStopuncnlo(1=ifyrrtex]""n.Fr  a.sa.sca.lSe 1;=iut )% 100Fr ="od]""nntoPCnssut )% 100ls= slsS
snadot $tttttexceRNPredi
tAuto,	\N       ('c.sa.sca.lAii3 =]""ns= s)#css
=tLrSkidFrtmpeAoPC#s.l= ec)'ToRNPredi
tAuto,	\N        sithha.sa.sca.lSe ) s).n.Fr =l"sSCa.sa.sca.l= s mpus).n.Fr =l"sSCa.sa.sca.lSe 1;ehne)IGHT t= s)nrceeds """n.Fr     p = s)netmpec
= s.laya CanvasLis s):nc.ls s):nc.t= s)nen  + (st om.m.aya CanvasLis s):nc.lty."""n.Fr  t= s)n.tmpe)l""n.Fr     p = s)nec
= s.laya CanvasLis s):nc.ls s):n.t= s)nen  +Fs,(Tt $)n.Fr Rom.m.aya CanvasLis s):nc.lty."""n.Fr  t= s)n""n.Fr   E_H = s)nec
= sTobe usn.To) ==, .Mces).n.Fr =Se FradTot= s)nenlse)""e middle ss""e (rguThi .:bomArriddlee) "Ebeis)nWAn
 n.Fr [min,w'x]uch as"d
_Mces).n.Fr =#ls .lsedsthisTbecog.s bothr  s ag s(r
texb Iw'Lim (via*(
=PCne_eaili)s s)"t= s)nes).n.Fr =#ng.slsSC(1=ifyrrtex]""n.Fr  t= s)nSe 1;=iut )% 100#svdeng.o""n.Fr  war 
=iIssuedut )% 100#svdeeeeeslsSCALWar 
=i!  = s)ne hareaallladyadboms s)"rtex]"sditoave 
=i:b Iw'Limea0rlqurC lLis'ceRNPredi
tA#svdeia ==     (ion.Fs 

=2aenlot= s)nSe ))E%T w't,#svdeeeeeslsSCA"(War 
=i eedTo]""nbb issued ag in)")E%T w't,#svdeeeee.Fr  war 
=iIssued .lssneedToQui )riddle>e.Fr  iaxc.sa.sca.lrchoriddlee.Fr  iax = s)n)1)E%T w't, == einia:ion.Fs 

=2aenloiin = s)n,e.Fr  iax = s)nPCE_HElayaels
snadot $tttttexce(' = s)ne keysthisTest L fic ed. Bac n.Frs'ce(ion.Fs 

=2s mpuFPCnssvdeiasithht= s)nro s mpus).n.Fr =l"sSCt= s)nSe 1;ehne)IGHT ii3 =ceeds """n.Fr   s= s)Fi3 ec
= s.laya CanvasLis s):nc.ls  s)sgncnlot= s)nSe 1rtex.isAla.sa.sca.lSe 1ii3 euch as"d
_Mces).n.Fr =l"sSCt= s)nSe 1;etotalCorslse
upa.sa.sca.lSe 1;etotalC ss meE_H = s)nFi3 c
= s.laya CanvasLis s):nc.ls  s)sgncnlot= s)nSe 1ii3 uch as"d
_Mces).n.Fr =l"sSCt= s)nSe 1;etotalC ss meE_Hc.sa.sca.lFi3 c
= s.laya CanvasLis s):nc.ls  s)sgncnloa.sa.sca.lSe 1ii3 uch as"d
_Mces).n.Fr =l"sSCcoPC#sca.lSe 1;etofp.wrseCFr l)lums"""ns, p	 wNodC.wrsewhiPC CALEn
 # oldsvak" en + (wotri s.e (drLabooasto)r oasthh wNodoPCt $t[arLabomsR
t $tsype [etc.CALE_"""n.Fr r oash.0== s)nsca.lrceeds """n.Fr   Fr """n.Fr n.Toa# cisnc
thhi,e ueg)nc0, **kwarsslon.Fr ==._"""n.Fr     CFr l)lumsTheibasiTon.Frhod. prose sssouyro  oas).n.Fr =pestinsca.lrri s.e  + (rguThi euch as"d
_Mces).n.Fr =sithha.sa.1selssn   s ag s(sr
texb Iw s snelseoPC#nhi"])ncposithhfroz.""".l.CAiallz.FroPCt $thi"])ncposithhfrocisnc
ssskrocisnc
s).n.Fr =l"sSCtoisnc
ssshi,e uexL)lum(rol"sSCh.0== s)ncoPCnssv3.) __s)nin.Fn.Fr n.Toi.laya Canvaty."""n.Fr  oPCt $ [i])ncssn.h.0== s)ncoh=
= s.+ (troy(sLis s):nc.lI.0== s)ncs1slsSCdoPCt $1rtex.isAlwidiYoezero=w'trts (uch as"d
_Mces).n.Fr =l"sSCA(s. ()ncoPCnssvdeiasithhdoPCt $s= s,(Tt $tzeronc(sithhfrocisnc
ope(1,aRNPredi
tAuto,	\N       xw't, == .n.Fr =l"sSCtoisnc
ope(1)	 'f'PCnssvdeiasithhweds= s,(Tt $tzeronc(sithhfrocisnc
ope(1,aRNPredi
tAuto,	\N       xw't, == .n.l"sSCtoisnc
ope(1)	 'f'PCnssvdeiasithhwedLas$s= s,(Tt $tzeronc(sithhfrocisnc
ope(1,aRNPredi
tAuto,	\N       xw't, == .n.Fr =l"sSCtoisnc
ope(1)	 'f'PCnssv ss mpu- b)ncoh=
=,okeyro 
=i s.+ (troy(sLis s):nc.lSe FroPCt $t[c."""0== s svdeiakiz ditols.WAn
 n.Fr [vak"	 w'x]uch as"d
_Mces).n.Fr =ng.keyro = s]""n.Fr  froz."keyeinikeywordslsSCoPCt $s= mpu- boundln(sithhfrocisnc
ope(1,aRNPredi
tAuto,	\N       xw't, == .n.Fr ==l"sSCtoisnc
ope(1)	NPredi
tAuto,	\N       xw't, == .n.Fr =l"sSCtoisnc
oiw'x (s. (lslon.stss1attrsss
= s.laya CanvaHEc"""n.Fr  Ect )TITc.l1[etc.CALE_ l)lumsTmod sousca.lrceeds """n.Fr   ci thrown[Fr n.Tofrocisnc
Se(1,atoisnc
Ss 

=[nlogTo].arsslon.Fr ==i thrc.lse)pe(1 BackproLE_ l)lumsTde)lsS
=i on.lse)pe(1slon.Fr =ci thr Bace"Rrssouyro = spestinsca.lrri s.. SusSCALonlyEbeslon.Fr =cYou muML.#ugh=ng picklN ==List coPCnsLsuch as"d
_Mces).n.Fr =oputoisnc
Ss 
 <)+  = sfrocisnc
Se(1 <)+ 1)E%T w't, == 
snadot $tttttexce('ci thrown[F)i You muusedsiniz iexs'uanew hi.'ToRNPredi
tAuto,	\N       xw't, == (frocisnc
Se(1,atoisnc
Ss 

)s).n.Fr =poPCt $s= s,(Tt $tzeronc(frocisnc
Se(1,atoisnc
Ss 

	 'f'PCnssvdeiaweds= s,(Tt $tzeronc(frocisnc
Se(1,atoisnc
Ss 

	 'f'PCnssvdeiawedLas$s= s,(Tt $tzeronc(frocisnc
Se(1,atoisnc
Ss 

	 'f'PCnssvdeiaweCt $s= mpu- boundln(frocisnc
Se(1,atoisnc
Ss 

	NPredi
tAuto,	\N       xw't, =l"sSCtoisnc
oiw'x (s. (lslon.....#rtmpensb622s mpc."new,ALE_"ider
=i onleicasmaou exL)lum(roiinFrocisnc
Se(1 s)iaunofrocisnc
Se(1,asithhfrocisnc
ope(1
)E%T w't,iauToisnc
Se(1 s)iaunotoisnc
Ss 
,=l"sSCtoisnc
ope(1))E%T w't,s)nA = n
 n.Fr iinFrocisnc
Se(1)1)E%T w't, == oPC_ML.....EEEEiauToisnc
Se(1= PM("vas 

=,")lsSwed[nlogTo].sithhwed[nlogTPM("vas 

=,")lsSwedLas$[nlogTo].sithhwedLas$[nlogTPM("vas 

=,")lsSdgFuex [nlogTo].sithhdoPCt $[nlogTPM("vas 

=,")lsSweuex [nlogTo].sithhoPCt $[nlogTPM("vas 
sithhdoPCt $s= doPCt $Cnssvdeiasithhweds= wedCnssvdeiasithhwedLas$s= wedLas$CnssvdeiasithhweCt $s= oPCt $C[etc.CApu- boutceeds """n.Fr   asssladth=
= s.+ (troy(sLis s):nc.lDu- bouc.LE_ l)lumsTinIGHT lumsT + (s, rally)  oatroy(sLis s):nc.lng.slsSCtoisnc
oi(1== s)nco> 41)E%T w't, == einia:=wed:nsb622'" * n)thhfrocisnc
o"n.Fr (t'T + '" * n)thhtoisnc
o"n.Fr "'")E%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsSeinia:ion.Ftoisnc
o"n.F, "[", j, "]HElaya#prst  "rslsSCALE_HEE_HEpr == oPC_iL.....EEEEl"sSCfrocisnc
ope(1
 PM("vas 

=,")lsSeinia:ion.Ffrocisnc
o"n.F, "[", i, "]HEFr prst  nlE%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsS)lsSeinia:ion.Fwed[nlogTTPCE_HElayaelsssss[lsSCALE_HEE_HEpr == [lsSCALE_HEE_HEpr == [lsSCA"doPCt $:nsb622'" * n)thhfrocisnc
o"n.Fr (t'T + '" * n)thhtoisnc
o"n.Fr "'")E%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsSeinia:ion.Ftoisnc
o"n.F, "[", j, "]HElaya#prst  "rslsSCALE_HEE_HEpr == oPC_iL.....EEEEl"sSCfrocisnc
ope(1
 PM("vas 

=,")lsSeinia:ion.Ffrocisnc
o"n.F, "[", i, "]HEFr prst  nlE%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsS)lsSeinia:ion.FdoPCt $[nlogTTPCE_HElayaelsssss[lsSCALE_HEE_HEpr == [lsSCALE_HEE_HEprng.slsSCtoisnc
oi(1== s)nco> 21)E%T w't, == einia:=WPCt $t:nsb622'" * n)thhfrocisnc
o"n.Fr (t'T + '" * n)thhtoisnc
o"n.Fr "'")E%T w't, == einia:=roy((((((((((rst  nlE%T w't,oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsSeinia:ion.Ftoisnc
o"n.F, "[", j, "]HElaya#prst  "rslsSCALE_HEE_HEpr == oPC_iL.....EEEEl"sSCfrocisnc
ope(1
 PM("vas 

=,")lsSeinia:ion.Ffrocisnc
o"n.F, "[", i, "]HEFr prst  nlE%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsS)lsSeinia:ion.FweCt $[nlogTTPCE_HElayaelsssss[lsSCALE_HEE_HEpr == [lsSCALE_HEE_T slsSCALceeds ""n.Fr   Ect )TITc
= s.laya CanvasLis s):nc.lCE_ l)lumsTinIGHT lumsT + (s, rally) asanvasLis s):nc.ll.n.Fr """is s):nc.lng.slsSCtoisnc
oi(1== s)nco> 41)E%T w't, == einia:= s)nwed:nsb622'" * n)thhfrocisnc
o"n.Fr (t'T + '" * n)thhtoisnc
o"n.Fr "'\nCf)E%T w't, == einia:= s)nE%T w't, == ")E%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsSeinia:= s)nE%T w't," * n)thhtoisnc
o"n.Fr  "[" * ntr(jCr"]H)E%T w't, == einia:= s)EE_HE(trhngiT == oPC_iL.....EEEEl"sSCfrocisnc
ope(1
 PM("vas 

=,")lsSeinia:= s)n)thhfrocisnc
o"n.F  "["* ntr(i)"]H (trhngi= nE%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsS == einia:= s)nE%T w't, == t," * ntr(ion.Fwed[nlogTg)ncnlog.(trhp.laidinia:= s)EE_HE(trhngiT == dinia:= s)EE_HE(trhngiT == dinia:= s)"doPCt $:nsb622'" * n)thhfrocisnc
o"n.Fr (t'T + '" * n)thhtoisnc
o"n.Fr "'\nC)E%T w't, == einia:= s)nE%T w't, == ")E%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsSeinia:= s)nE%T w't," * n)thhtoisnc
o"n.F  "["* ntr(j)"]H)E%T w't, == einia:= s)EE_HE(trhngiT == oPC_iL.....EEEEl"sSCfrocisnc
ope(1
 PM("vas 

=,")lsSeinia:= s)n)thhfrocisnc
o"n.F  "["* ntr(i)"]H (trhngi= nE%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsS == einia:= s))nE%T w't, == t," * ntr(ion.FdoPCt $[nlogTg)ncnlog.(trhp.laidinia:= s)EE_HE(trhngiT == dinia:= s)EE_HE(trhngiTng.slsSCtoisnc
oi(1== s)nco> 21)E%T w't, == einia:= s)nWPCt $t:nsb622'" * n)thhfrocisnc
o"n.Fr (t'T + '" * n)thhtoisnc
o"n.Fr "'\nC)E%T w't, == einia:= s)nE%T w't, == ")E%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsSeinia:= s)nE%T w't,"  * n)thhtoisnc
o"n.F  "["* ntr(j)"]H)E%T w't, == einia:= s)EE_HE(trhngiT == oPC_iL.....EEEEl"sSCfrocisnc
ope(1
 PM("vas 

=,")lsSeinia:= s)n)thhfrocisnc
o"n.F  "["* ntr(i)"]H (trhngi= nE%T w't, == oPC_ML.....EEEEl"sSCtoisnc
ope(1) PM("vas 

=,")lsS == einia:= s))nE%T " * ntr(ion.FweCt $[nlogTg)ncnlog.(trhp.laidinia:= s)EE_HE(trhngiT == dinia:= s)EE_HE(trhngiTHEct )TIT1t s)ngiT).n.Fr """n.Fr(neuralor(Ne 

=ErrorC.wrsewhiPC CALEn
 # .hodithLt
dng.sta, ssarieseteds "
ls'uidiYoError s.satvas 

=sisethet $tsype [etc.CALE_"""n.Fr itc.lssn.Fr """n.Fr n.Tos 

sss'm Iw'Lim """n.Fr'.Fr p= s)ncoPCH	NPredi
tAuto,	\N  seeds= son

=[nlogTo].arsslon.Fr ==._"""n.Fr     Lt
dificial heibasiTon.FroptdL mul"n.Fr oaslon.Fr =r p= s)nco(rguThi euch as"d
_Mces).n.Fr =ng.seeds=None,ekeyeinikeywordxs= mpu- bCr
= s[r* splo00 * rtex.las Rueyeinikeylume"et):nc.lseeidxo].siedCnssvdeiasithhri s.e )nc.Cnssvdeiasithhr p= s)ncoPCr p= s)ncCnssvdeiasithhs)nSeed(xsdithhi.lLiify(lu--

tle= x.needToStion.Fs 

tWidthc.lssnlog)ncnlori s.eByN 

tWi{}dithhi.lLiify(lur l)lumss )nc.CnssvdeiasithhcoPCnMap )nc.Cnssvdeiasithht= s)nMap )nc.Cnssvdeiasithhibaocisca.l= c.CnssvdeiasithhcoPCns )nc.Cnssvdeiasithht= s)nse)nc.CnssvdeiasithhorderedIoPCns )nttrtex.debusu= soadOrdere)nc.Cnssvdeiasithhlear 
=i tt1s).n.Fr =l"sSCmoThi u(hc.ls9s).n.Fr =l"sSCmeE_HEpocy(nl5lo0s s):nc.ll"sSCmeE_HCp.o""n.1s s):nc.ll"sSCmeE_HLimi""n.1s s):nc.ll"sSCbaws i)nttrtex.debusu= epocy(nltotalCnlogncnlotyaseEpocy(nltotalCnlogncnloep.o""n.F( s]C lqu oTomhngss  s ag s(riqurC lLiCnssvdeiasithhstopPerelifro 1=iTotalTiogse
upsigmoid_[lsme_offs)nro 
=1otalCnlogncnloty s)ncoP o 
=4Cnssvdeiasithhco, sa.sa.1selttrtex.debusu= epsil.lro 
=1s s):nc.ll"sSCme s)nRatle= 25TotalTiogse
upsweepRe s)nRatle= 1lo0s s):nc.ll"sSCcrossVz iesca.lCorpus )nisdithhi.lLiify(lrossVz iesca.lRe s)nLi s.e )nc.CnssvdeiasithhlrossVz iesca.lSa--

Ratle= 0s s):nc.ll"sSCcrossVz iesca.lSa--

=2sasss"sa--

.cves).n.Fr =l"sSCioTssssstWi{}dithhi.lLiify(ioTsssseds= 0HT heino s = 2sasIOuusedsinPCns  oast= s)nes).n.Fr =se
upsusu=dWPCt $t[(v0s s):nc.ll"sSCheiCrossVz iesca.lr     rtex.needToStse
upsaveResul$t[(v0HT eedTosave eaili As.chu= ,atoase s)nsweepisdithhi.lLiify(resul$t[(vc.CnssvdeiasithhiutoCrossVz iesca.l1;etotalCorslse
upautoSaveWPCt $t=2sasssncoPCnas 

=sse
upautoSaveWPCt $t=2saFGHT lsss")20 es).n.Fr =l"sSCsastAutoSaveWPCt $t=2sas 

tWincoPCnas 

=sse
upautoSavetoait

n2sasssncoPCnas 

=sse
upautoSavetoait

n2saFGHT lsss")20 es).n.Fr =l"sSCsastAutoSavetoait

n2sas 

tWincoPCnas 

=sse
upsastLowestTS.epocho].sys iaxsSCA#s a naiaxsmuakiz dipet .hodpl vase hareaInf """ysdithhi.lLiify(_cvo].FaumeA#s s)"trdiwhenlsoarross vz iesca.ldithhi.lLiify(_sweep
=i ttl.CAii3 = s)"whenlsweep
=i ML.#ugh=corpus ( + (ppo._d= ehj) "Estepp (4n eabei.lLiify(_w'x (s. (hc.lsss s):nc.ll"sSCcuchu 2SweepCp.o""n.ncoPCnas 

=sse
upso$tttncoPHT asssditoaeedi
= 2sa-likdesifsyo, likdealLogineural vas 

= usu= echoo].FaumeAc.CAng.gont  oad""so$t pos, echooiHEYoo,nelstrdi vas 

= usu= hyp p= licepocho].l.CAexagghi eN eaili? vas 

= # QuiIw'Lim  s)Systemas# userese
up_quiIw'Lim ;etotalCorslse
upmuro 1=75l# maxsmuakgrowedsfa.Fr itc.lToStse
upsasTyEpsil.lro 
itc.lToStse
updec R= 0.0lo0s s):nc.ll"sSCcacheCur l)lumss )nc.CnssvdeiasithhcacheLi s.e )nc.Cnssvdeiasithh s)upoPCnssv3.) E_HCachec
= sTobe  = sg)nc0, **kwarslSe Frcache on.(chowordsls),n  L):nc.off_Mces).n.Fr =#l1.n.FrclearLt
ds mpcachempupl2tps s):nc.ll"sSCcacheCur l)lumss )nc.CnssvdeiasithhcacheLi s.e )nc.Cnssvdeiai )rid1)E%T w't, == oPC_l "\nTho)ncnlori s.e PM("vas 

=,")lsSelsS'uanha.sa.1srtex]""nS'uanhfroz."keyeinikeywordnssvdeiasithhcacheLi s.e.sn)lsSCAl "\nT))E%T w't, == oPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSelslur l)lumsha.sa.1srtex]""nlur l)lumshfroz."keyeinikeywordnssvdeiasithhcacheCur l)lumss.sn)lsSCALE_ l)lumsTPCnssv3.) E_HQuiIw'Limc
= sTobe usn.To) ==, .i )riddlkeyeinikeywordslsSCbaws i)n1eyeinikeywordslsSC_quiIw'Lim ;e1eyeinikeywordslsSCmuro 1=75l# maxsmuakgrowedsfa.Fr itc.lToStwordslsSCsasTyEpsil.lro 1eyeinikeywordslsSCdec R= -0.0lo1eyeinikeywordslsSCepsil.lro 4=iTotalTioggggg# s)"difdsvaktsPC  Lista Tanhua.sc hsva?eyeinikeywordslsSCs 

tWi"QuiIw'Lim toait

es).n.Fr =lume"et):nc.lseeidion.FiquiIw'Lim ;etotalCorslwordslsSCsasTyEpsil.lro totalCorslwordslsSCdec R= 0.0lo0s s):nc.lwordslsSCepsil.lro lsss s):r     pQuiIw'Limc
= s):aHEc"""n.Fr  iquiIw'LimCnssv3.) E_Hupc
= s.laya Canva=._"[etc.CAgundersoceeds """n.Fr   ioTysr n.ToEE_HEisnc
thlsS,e ueg)nc0, **kwarsslon.Fr ==._d=inLeailircheck
=i eeeds(1=ifyArchitl)lur[F)i oash.s  s _frocLsuch as"d
_Mces).n.Fr =n)sSCWi{EE_HEisnc
Cs 

t:oEE_HEisnc
}dithhi.lLG $tteds= {}dithhi.lL= Nonen)sSC!= {}1)E%T w't, == oPC_in.Fsh.sn)sS.in.Fs(M("cisnc
thhi,")lsSCAin.F[0]t:o"n.F, in.F[1]t:ol "\nToldsvak" "cisnc
thhi,")lsSCAaddrS'uaneediG $ttedsE_HE.rtexpelnsb622n)sSC"cisnc
thhi,")lsSG $tted[in.F[0]To].in.F[1]"cisnc
thhi,")lsSpelnn)sS[in.F[0]Tgi= nE%T w't, == oPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSSSSSelslur l)lumshfrocisnc
o"n.Fr==Ain.F[0] PM("vas 

=,")lsSSSSSSSSSelslur l)lumshtoisnc
o"n.Fr==AlsS,e ueo"n.F PM("vas 

=,")lsSSSSSSSSSSSSSHEc"""n1HT assoTy!PM("vas 

=,")lsSSSSSSSSSCALE_HEsS.has_key(lur l)lumshtoisnc
o"n.F
=[nlogTo].s= selsSCALE_HEEEEEE=._"HT allladyals.WAn
s(st oa 
estra"" RPM("vas 

=,")lsSSSSSSSSSCALE_G $tted.has_key(lur l)lumshtoisnc
o"n.F
=[nlogTo].s= selsSCALE_HEEEEEE=._"HT allladyabbomsRr "cisnc
thhi,")lsSSSSSSSSSCAncoPCE_HElayaelsssssssurrrrrrrrrCAaddrc."nextPCE_HElayaelsssssssurrrrrrrrrn)sS[lur l)lumshtoisnc
o"n.FTo].lur l)lumshtoisnc
PCE_HElayHEc"""n0.CApudn'tl1.oashE.rtex)nc ed. Bacboms  +c."goitc.lssn.Frttrsss
= s.laya CanvasLis s):nc.ls s):nc., ralsr= s= sntsca.lrefssisethet $tsyanvasLis s):nc.lHEc"""n.Fr  Ect )TITc.l13.) __ttersss
= s.laya CanvaoPC_l "\nTho)ncnlori s.e PM("vas 

=,"yieldt__["_l)lum3.) __s)nin.Fn.Fr n.To"n.F
=[nlogTo].sLis s):nc.ls s):nc.lse)s'uanewc=, soedsbyessssv[nlogTo].sLis s):nc.lng.stype"n.F
r ifntrth) stopPercLrHEc"""nncnlori s.eByN 

layaaas).n.Fr =lume"et):nc.lseeidfrocNthc AtoN 

tWidthc.lssnlog)rcLrHEc"""nncnlo*ar =r l)lums(frocNthc AtoN 

.l13.) __lensss
= s.laya CanvasLis s):nc.ls s):nc.lse),C lqu oTori s.e ls.WAn
sisethet $tsyanvasLis s):nc.lHEc"""nLE_HEithhri s.el""n.Fr     pisnc
IndexFr n.Tosssvd.laya CanvasLis s):nc.lGreferenoldsvak"  oad""ssnc
thr s):nc.lse)indexdithLtat_l "\nThoCnas 

=sse
upsa s.e.nc0, **kwarsllllllllllllllaya CanvaoPC_iL.....EEEELE_HEithhri s.el
=[nlogTo].s= selsS'uane ifncnlori s.e[i]:A#s h.hoow cmpPCE_HElayaelsssssHEc"""nis s):nc.lHEc"""n-1( s]""n  + (st""n.Fr   sssvs(
nar n.To"n.F=2addL	 r p= s)ncoPCH	 [l)lums= None,e
=[nlogTo].._"irt.stype"n.F
r ifntr, "1.n.Frng.sta, s e"n.F
re) "Ebei
., ral"[nlogTo].._"irt.stype""n.Fr ifdit, "selurdrng.sta, s e""n.Fre) "Ebei
n+ w'List"[nlogTo].._"irt.e"n.Fs]""n  +ncnlori s.eByN 

) A(tduasTFr UsS'uane"n.FsLnasriqupet .hoowe
 
= n 

.l11111S'uane ot $tt("n.F=2addL	 w'x (s. (=iify(_w'x (s. (PCElayaelsnnc.lsessssFr n.Tosssvd	 r p= s)nc	 [l)lums=)[etc.CAeteds "
oPC_LE_"""n.FSCALrtexmod sySCALr= s)ncoPC"n.Fr   sssFr n.Tosssvd	 r p= s)ncoPCH	 [l)lums= None,e
=[nlogTo].sLis s):nc.lAddsd""ssnc
.ot $tt r p= s)ncoiFroptdL mul(r  ault 0such as"d
_Mces).n.Fr =lsnc
oi(1== s)ncoPCr p= s)ncCnssvdeialsnc
oiw'x (s. (o].sithhiw'x (s. (Cnssvdeialsnc
oiau = s)nro 
=iTotalTioglsnc
oiax = s)nro 1=iTotalTioglsnc
oiauc.sa.sca.lro 
=iTotalTioglsnc
oiaxc.sa.sca.lro 1=iTotalTiogels[l)lums= NNone,ekeyeinikeywordse
upsa s.e.sn)lsSCsssvd.s).n.Fr =lume"et):nc.lseeidion.Fsa s.e.in"irt(en a l)lumsssvd.s).n.Fr =ncnlori s.eByN 

llsnc
o"n.FTo].__["_l)lum3.) is =r l)lesFr n.TofrocNthc AtoN 

.)nc0, **kwarslAre)""ese (wotri s.e c=r l)lessthisTway?_Mces).n.Fr =oPC_LTinLiify(lur l)lumss PM("vas 

=,""odFchfrocisnc
o"n.Fr==AfrocNthcr oaslon.Fr =========chtoisnc
o"n.Fr==AtoN 

.)nc0, **kwwwwwwwwwHEc"""n1PCE_HElayHEc"""n0l)lum3.) _HEEEEEnr n.To*"n.Fs.laya CanvasLis s):nc.lCE_ l)lsd""s(st efssn.Fs, onle + (s, HEsS.aya CanvasLis s):nc.lfrocNthc AtoN 

thr s$s= sn.Fs[0], sn.Fs[1], sn.Fs[2:.CnssvdeiasithhcE_ l)lAt(frocNthc AtoN 

.l1
=,""odLE_Hr s$)C!=  1)E%T w't, == sithhcE_ l)l(toN 

th*r s$)l)lum3.) _HEEEEEAtFr n.TofrocNthc AtoN 

	 [l)lums= None,e
=[nlogTo].sLis s):nc.lCE_ l)lsd(wotri s.e byrhod. ptiscaCALrtThod. pro efs =r l)lumss s):nc.lheibasichoows asss)lums= ,C lqu,"""n.Fr 
=i MLo = der
=i ofs s):nc.lkproLE_ l)lums.aya CanvasLis s):nc.lfrocL'uane oncnlo*art $tt(frocNthc.l1
=,"toisnc
s e oncnlo*art $tt(toN 

.l1
=,""odncnlo*art $ttIndexFfrocL'uan) >=dncnlo*art $ttIndexFhi,e ueg)nc0, **kwElayHsnado, p	 wSRNErrce(') "\ns ed. Bac= ders'ce(frocisnc
o"n.F, toisnc
o"n.F
)s).n.Fr ="odFfrocisnc
otHElayae'Oi
t(' n1)E%T w't, == frocisnc
otHElay 'Hidde_HE(trhngiT == orocisnc
oioTssss== s)nhc.l.CAoutomistslsSyoc"""ed.off_oPC_hidde_tri s.ePM("vas 

=,""odorocisnc
ok""nssae'Oi
t(' )nc0, **kwwwwwwwwworocisnc
ok""nss 'Hidde_HE(trhngiTCALE_Ffrocisnc
otHElayae'Unssnausd'n1)E%T w't, == frocisnc
otHElay '' nputE(trhngiT == orocisnc
oioTssss== s)nhc.l.CAoutomistslsSyoc"""ed.off_oPC_coPCnsri s.ePM("vas 

=,""odorocisnc
ok""nssae'Unssnausd')nc0, **kwwwwwwwwworocisnc
ok""nss '' nputE(trhngiTLE_Ftoisnc
otHElayae'' nputn1)E%T w't, == Hsnado, p	 wSRNErrce('Cur l)lumss ed. Bac= der'ce(frocisnc
o"n.F, toisnc
o"n.F
)s).n.Fr =CALE_Ftoisnc
otHElayae'Unssnausd'n1)E%T w't, == toisnc
otHElaye'Oi
t(' )E%T w't, == toisnc
oioTssss== s)nhc.1.CAoutomistslsSyoc"""ed.onokeysdi
t('tri s.ePM("vas 

=,""odtoisnc
ok""nssae'Unssnausd')nc0, **kwwwwwwwwwtoisnc
ok""nsse'Oi
t(' )E%T w't,els[l)lums= NNone,ekeyeinikeywordse
upcur l)lumss.sn)lsSC =r l)lums(frocisnc
thhi,e ueg.s).n.Fr =lume"et):nc.lseeidion.Fcur l)lumss.in"irt(en a l)lum =r l)lums(frocisnc
thhi,e ueg.s).n.r   sssThreeLi s.eFr n.Toinc,_hidc,_di
c
=[nlogTo].sLis s):nc.lCre s(sr
 ML.eUsS'uane"ficial eeeds'coPCn', 'hidde_',r oaslon.Fr ='di
t('' sa s.e.nc0, **kwarsCnssvdeiasithhsssvs(
na'coPCn', incns).n.Fr =l"sSCassvs(
na'hidde_',rhidcns).n.Fr =l"sSCassvs(
na'di
t('',_di
c
CnssvdeiasithhcE_ l)l('coPCn', 'hidde_'
CnssvdeiasithhcE_ l)l('hidde_',r'di
t(''.s).n.r   sssLi s.eFr n.To*= spositw
=[nlogTo].sLis s):nc.lCre s(sr
n NsS'uane"ficial eeeds'coPCn', 'hidde_1', 'hidde_2',...nc0, **kwrtex'di
t('' sa s.e. Kdi
t__utHEla""n.Fr Us "ng.sllel" o_l)lum"])n"serial"ss/udonlyEonlehidde_tri s., inriqurC lLi "hidde_"uch as"d
_Mces).n.Fr =n)tTHElaye"serial")E%T w't,els"tHEl" s)ncw"et):nc.lseeidn)tTHElayekw["tHEl".Cnssvdeiasithhissvs(
na'coPCn', = s[0]
Cnssvdeiahidde_e )nc.Cnssvdeiai )LE_Hs g) > 3"et):nc.lseeidhep.o""n.FE(trhngiT == oPC_hidLTinL= s[1:-1] PM("vas 

=,")lsSs 

sss'hidde_%d'
= hep.o"PM("vas 

=,")lsSsithhissvs(
na"n.F, hidcns).n.Fr =nssvdeiahidde_e.sn)lsSCn 

.l11111c.lseeidhep.o""+o 1eyeinikeyCALE_LE_Hs g) NNo3 PM("vas 

=,")lsSs 

sss'hidde_'PM("vas 

=,")lsSsithhissvs(
na"n.F, = s[1Tg)ncnlog.(trhp.laihidde_e.sn)lsSCn 

.l11111CALE_LE_Hs g) NNo21)E%T w't, == e._"[etc.1111CAncoPCE_HElayaels
snadonnc.lllllraili At,et en#ugh=sa s.e!
ls'u >=d2sCnssvdeiasithhsssvs(
na'di
t('',_= s[-1Tg)ncnlog.(sastN 

tWi"coPCnes).n.Fr =oPC_s 

sinLhidde_eut )% 100Fr ="od])tTHElay= "ng.sllel" PM("vas 

=,")lsSeithhcE_ l)l('coPCn', n 

.l11111c.lseeideithhcE_ l)l("n.F, 'di
t(''.s).n.etc.1111CAncoA#s sriall11111c.lseeideithhcE_ l)l(sastN 

, n 

.l11111c.lseeidsastN 

tWidthc.lssnlog)"od])tTHElay= "serial" PC_l stN 

tWWi"coPCne1)E%T w't, == sithhcE_ l)l(sastN 

, "di
t('"PCnssv3.) E_Hvs(
nV1=ifousca.lc
= sTobe usn.To) ==, .oPC_l "\nTho)ncnlori s.e PM("vas 

=,"lsnc
o(1=ifyrtebe us vas r   de

tlvs(
n.Fr (r n.Tosssvd"n.F, reilNum.laya CanvasLis s):nc.ls .lses assarstsular unit/reiledrLabo
sssvd.aya CanvasLis s):nc.l#l1.n.F,_LE_"""n.Fr
n .Fr RBac.hodithLt
doPCt $thi"])ncpo#hLtat_won'tlbe de

tldut )% 100gund )nc.CnssvdeiaoPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhtHEla!ae'' nput)nc0, **kwwwwwwwwwoPC_iL.....EEEELsnc
ope(1) PM("vas 

=,")lsS == elsS'uanh"n.Fr==Asssvd"n.Fi oashr==AreilNumoPCE_HElayaelsssssssurrrrr=._"HT skip inPCE_HElayaelsssssssurCAncoPCE_HElayaelsssssssurrrrrgund.sn)lsSCsssvdFweCt $[nl))E%T w't,s)nALE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"oPC_iL.....EEEElur l)lumshfrocisnc
ope(1) PM("vas 

=,")lsSoPC_ML.....EEEElur l)lumshtoisnc
ope(1) PM("vas 

=,")lsS == els(Elur l)lumshfrocisnc
o"n.Fr==Asssvd"n.Fi oashr==AreilNum) r itc.lToStworddddddddddddd(lur l)lumshtoisnc
o"n.Fr==Asssvd"n.Fi oasjr==AreilNum)
=[nlogTo].s= selsSCALE_HEE=._"HT skip oPCt $t[froc/c."neilNumPCE_HElayaelsssssssurCAncoPCE_HElayaelsssssssurrrrrgund.sn)lsSClur l)lumshweCt $[nlogTg)ncnlog.( s]"w,ALi thr lse)pe(1 (r .lses rCt $mos20reil
=[nlogTo].iify(l ==List coPCnsLsssvd"n.F, iify[sssvd"n.F]ope(1 - 1g)ncnlog.( s oast('tlse)good oPCt $t[wr tlsey)go=[nlogTo].iify(unoundlify(gund.s).n.r   sssLi s..Fr (r n.TosssvdN 

, biass= ne,e, oPCt $t[= {}
=[nlogTo].sLis s):nc.lAddsd""new.reileoad""ssnc
th oast('ssh.sn)w oPCt $t.lAddsdreileon.lse)lsS.aya CanvaWPCt $t[eedTobe mpu- b, unCnssswc=, soed.
aya Canvabiass  e o(s, HEw.reil'sabiassoPCt $CnssvdeiaoPCt $t[= E_HE.ith{c=r l)lesLssvdN 

: [oPCt $t], ...}
aya CanvaExa--

=[nlogTo].>>>d])t.sssLi s.eF2, 5, 1g)ncnlog.(>>>d])t.sssLi s..Fr ("hidde_", biass= -0.12, oPCt $t[= {"coPCne1 [1, 0], "di
t('"1 [0]})[nlogTo].sLis s):nc.liify(l ==List coPCnsLsssvdNn.F, iify[sssvdNn.F]ope(1 + 1g)ncnlog.(elsbiass!None,ekeyeinikeywordse
u[sssvdNn.F]oweCt $[-1T = bias.lssnlog)oPC_s 

sinLoPCt $t.keys(M("cisnc
thhi,"oPC_LTinLiify(lur l)lumss PM("vas 

=,"og.(elschfrocisnc
o"n.Fr==A"n.Fi oaschtoisnc
o"n.Fr==AsssvdNn.FoPCE_HElayaelsssssssuroPC_iL.....EEEEl"sS["n.F]ope(1
=[nlogTo].s= selsSCALE_HEEl"sS["n.FTosssvdN 

]hweCt $[nlo-1T = oPCt $t["n.F] [i])ncw$tt s[[[[[CALE_chtoisnc
o"n.Fr==A"n.Fi oaschfrocisnc
o"n.Fr==AsssvdNn.FoPCE_HElayaelsssssssuroPC_jL.....EEEEl"sS["n.F]ope(1
=[nlogTo].s= selsSCALE_HEEl"sS[sssvdNn.F, nn.F]oweCt $[-1TogTo].oPCt $t["n.F]j[i])ncssn.l ==List coPCnsLr n.Tosssvd"n.F, rewas 

=[nlogTo].arsslon.Fr ==i thrc.l "\nTw hi. Newas 
 e) "Ebeigre s(rLt
n zero.aya CanvasLis s):nc.l#l1r r dToLE_ l)lumsTsb6220osthisTest L,ALi thr w'trtx.To) ==, .i )se
upsusu=dWPCt $toPCE_HElayaels
snadonnc.lllllraili Atsusu=ddoPCt $t[arokenes).n.Fr =oPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"elslur l)lumshfrocisnc
o"n.Fr==Asssvd"n.F=[nlogTo].s= selsSlur l)lumshci thrown[F  sewas 
	 lur l)lumshtoisnc
ope(1T))E%T w't, == elslur l)lumshtoisnc
o"n.Fr==Asssvd"n.F=[nlogTo].s= selsSlur l)lumshci thrown[F lur l)lumshfrocisnc
ope(1, rewas 
 g)ncnlog.( s(s,n,ALi thr lse)actual.l "\nTw hi=[nlogTo].iify(*art $tt(sssvd"n.F)hci thrown[Fsewas 

)E%T #ns= s)# oash.== s)nsca.li])ncssn.s= s)c
= s.laya CanvasLis s):nc.ls  s)sgncempupl2tpt $tsyanvasLis s):nc.lHpu- bCncem
ncnlopeedntrtex.debncnloh.0== s)ncoPCnssv3.) h.0== s)ncoh=
= s.+ (troy(sLis s):nc.lI.0== s)ncs1"ficial byurC l
=i  =r l)lumsoh.0== s)ncoPr oaslon.Fr =isnc
oh.0== s)ncoP.gncnloep.o""is E_HEYoezero..+ (troy(sLis s):nc.l[lsSCA>>dsys stdeFrue"I.0== s)n
=i LnasroPCt $t... 
= slsSCs 

To) ==, .i )se
upsusu=dWPCt $toPCE_HElayaels
snadonnc.lllllraili Atsusu=ddoPCt $t[arokenes).n.Fr =ncnloep.o""n.FE(trhngiToPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"c=r l)lumsoh.0== s)ncoPTo) ==, .oPC_l "\nTho)ncnlori s.e PM("vas 

=,"lsnc
oh.0== s)ncoPCnssv3.) s= s)Fi3 ec
= s.laya CanvasLis s):nc.ls  s)sgl "\nTii3 el1r r .sa.sca.lr oast= s)n.aya CanvasLis s):nc.lfPC_l "\nTho)ncnlori s.e PM("vas 

=,"lsnc
os= s)Fi3 ec)Ce)IGHT ss)# oass)nrceeds "l1r r nc.lllll"""n.Fr   iuHAoPC#s.l= ec
= sToE_HEn.To) ==, .sLis s):nc.lPCns   E_HE.ith"n.F=e
#
= s.l= en   + (s,inTolwc=,sa.1ssa s.e.nc0, **kwarsCnssvdeiaoPC_s 

sinLE_HE"et):nc.lseeidion.Fsa s.eByN 

layaaa.tmpeAoPC#s.l= ec.E_HE["n.FTol""n.Fr     pAoPC#s.l= eDiEEnr n.To"n.Ftmpe.laya CanvasLis s):nc.ls s):nc.(sE_HEdL mry oTori s. sn.FshLtat_mapeoad""s(st efs-#
= s.l= euch as"d
_Mces).n.Fr =retbe  = {}dithhi.lLoPC_s 

sinL"n.Ftmpeth) stopPercLrHEcbe ["n.FTo].ion.Fsa s.eByN 

layaaa.  pAoPC#s.l= etmpec)s).n.Fr =HEct )THEcbe ""n.Fr     pt $tt(r n.To"n.F
=[nlogTo].sLis s):nc.ls s):nc.lse)s'uaneeeeds""e (rguThi l(, ral)essssv[nlogTo].sLis s):nc.lHEc"""nncnlori s.eByN 

layaaas).n.r   E_HAutoCrossVz iesca.lc
= sTobe usn.To) ==, .sithhsutoCrossVz iesca.l1;ebe us vas r   E_HAutoSaveWPCt $t=2saoh=
=,ok2sa"n.F, fGHT lsss")20 en.To) ==, .sithhsutoSaveWPCt $t=2sasssk2sa"n.FTo) ==, .sithhsutoSaveWPCt $t=2saFGHT lsssfGHT l vas r   E_HAutoSavetoait

n2saoh=
=,ok2sa"n.F, fGHT lsss")20 en.To) ==, .sithhsutoSavetoait

n2sasssk2sa"n.FTo) ==, .sithhsutoSavetoait

n2saFGHT lsssfGHT l vas r   E_HPoTssssedc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrWAn
sisetheeoadg.s ioTssssstoPC_coPCns  oast= s)ne.nc0, **kwarsCnssvdeiasithhioTsssseds= be us vas r   E_HEpsil.lc
= sTobe usn.dslsSCepsil.lro be us vas r   E_HIo, sa.sa.1c
= sTobe usn.To) ==, .Mces).n.Fr =Se Frco, sa.sa.1sediGe usu Sc=, soesnelsenrco, sa.sa.1sprocpl vas 

= uusSCALaclu--
= ssweepis PC_stepLsuch as"d
_Mces).n.Fr =ncnloh., sa.sa.1selbe us vas r   E_HTy s)ncoPc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrWy s)ncoP ediGe usu bomArsc=, soesnhow cp)n.LacleptablFTo) ==, .di
t('s e) "Ebei + (= s)ne.nc0, **kwarsCnssvdeiasithhty s)ncoP o be us vas r   E_HA.sa.1c
= sTosssvdNn.F, be usn.To) ==, .Mces).n.Fr =Se FrarS'uaneedia.sa.1. Affl)lsdcer """(),*(
=PCne_eaili(
	NPredi
tA  s ag s((),ALi thr_oPCt $t(),Aasssladtsuch as"d
_Mces).n.Fr =ncnlo*art $tt(sssvdN 

..E_HA.sa.1cbe usns).n.r     pAoPC#1c
= sTosssvdNn.F
=[nlogTo].sLis s):nc.ls s):nc.lse)middle ss""e (.sa.1sii3 =   Lt
dl "\nTwc=, soedaya CanvabyosssvdNn.Fv[nlogTo].sLis s):nc.lHEc"""nncnlo*art $tt(sssvdN 

..  pAoPC#1cPCnssv3.) E_Hvear 
=ic
= sTobe usn.To) ==, .Mces).n.Fr =Se Frlear 
=i ediGe usu Da, sminesnelsWAn
sisetheelear s	NPredi
tAisu ci thrc.LE_ l)lumsToPCt $t.ch as"d
_Mces).n.Fr =ncnlolear 
=i ttbe us vas r   E_HMoThi u(c
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCmoThi u(hediGe usu =._d=inLLi thr_oPCt $t().ch as"d
_Mces).n.Fr =ncnlomoThi u(hc.be us vas r   E_HReE_HLimi"c
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCmeE_HLimi""ediGe usu When.lse),C lqu oTos= s)ss s):nc.lHEachec.lse)s= s)#limi""eAn
sisetheequi$t.ch as"d
_Mces).n.Fr =ncnlomeE_HLimi""n.be us vas r   E_HReE_HEpocyc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCmeE_HEpocy(ediGe usu When.lse),C lqu oToepocyss s):nc.lHEachec.slsSCmeE_HEpocy(eAn
sisetheer s$ar$t.ch as"d
_Mces).n.Fr =ncnlomeE_HEpocy(nlbe us vas r   E_HBaws c
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCbaws iediGe usu Accumulr Us eailirover.lse)lstir "cisnc
tht
sn 
=i ss)# oasonlyEci thrc.oPCt $t[afs(rEachht
sn 
=iaya Canvabaws iiquru--

tl.ch as"d
_Mces).n.Fr =ncnlobaws i)nbe us vas r   E_HSeedc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrWAn
ncempediGe usuch as"d
_Mces).n.Fr =ncnloseeds= be us vas nc.lHpu- bCncem
ncnlopeedntrtex.debng.slsSC(1== s)nco>=  1)E%T w't, == einia:= =rxdg.
=i ssed:",=ncnloseeds).n.r     p =r l)lums(
= sTosfrocTosto
=[nlogTo].sLis s):nc.ls s):nc.lse)LE_ l)lumsTind. pro LE_ l)lu=i MLo wc=, soeds(, ral)s s):nc.lri s. sn.Fs.nc0, **kwarsCnssvdeiaoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"elslur l)lumshfrocisnc
o"n.Fr==AsdrLabooasRNPredi
tAuto,	\Nlur l)lumshtoisnc
o"n.Fr==Asto=[nlogTo].s= selsSHEc"""nlur l)lums vas nc.lHpnado, p	 wSRNErrce('Cur l)lums0rlqu,et founis'ce(sfrocTosto
PCnssv3.) E_HV1== s)ncc
= sTobe usn.To) ==, .Mces).n.Fr =Se Frsisetheesithhir p= s)nco(oasEachhlsnc
oir p= s)ncoediGe usuch as"d
_Mces).n.Fr =ncnloi(1== s)ncoPCre us vas nc.lfPC_l "\nTho)ncnlori s.e PM("vas 

=,"lsnc
oi(1== s)ncoPCre us vas r     pV1== s)ncc
= s):aHEc"""n.Fr  ir p= s)ncCnssvr   E_HStopPerelifc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCstopPerelifrediGe usu t
sn ea0redTos   relsWAn
perelifs).n.Fr =s.chu=  sur=._"rc.lse)p   rperelifuch as"d
_Mces).n.Fr =ncnlostopPerelifro be us vas r   E_HUeiCrossVz iesca.lr     c
= sTobe usn.To) ==, .Mces).n.Fr =Se Frii3 = ohLtat_ncnlostopPerelifriquru--su=dddFrtross vz iesca.ldithhi.lLpereliflHpRrsLt
n lse)s=gular t
sn 
=i escaLperelifage=s.chu= uch as"d
_Mces).n.Fr =ncnloheiCrossVz iesca.lr     rtebe us vas r   E_HSigmoid_[lsme_offs)nc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCsigmoid_[lsme_offs)nrediGe usuch as"d
_Mces).n.Fr =ncnlosigmoid_[lsme_offs)nro be us vas r   E_HRe s)nRatlc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCme s)nRatleediGe usu  t
sn ea0redTome s)n"whens).n.Fr =epocy(% me s)nRatle=o 
= Cross vz iesca.l0redToonlyEme s)n"ifs s):nc.lkprr(riquartross vz iesca.l escaLs)n.aya CanvasLis s):nc.lslsSCme s)nRatletebe us vas r   E_HSweepRe s)nRatlc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCsweepRe s)nRatleediGe usu  sweepis redTome s)ns).n.Fr =whenlepocy(% sweepRe s)nRatle=o 
= lkprr(riquartrosss).n.Fr =vz iesca.l escaLs)n.aya CanvasLis s):nc.lslsSCsweepRe s)nRatle= re us vas r     pM'x (s. (c
= s):aHEc"""n.Fr  iw'x (s. (Cnssvr   E_HM'x (s. (c
= sTobe usn.To) ==, .Mces).n.Fr =Se FrWAn
w'x (s. (oisnc
r nc.llllllfPC_Eachhlsnc
eediGe usuSc=, soess s):nc.lkpr glob s svdgllfPC_Hpu- bly h.0== s)ncmpupl2tp, [vak"	 w'x]uch as"d
_Mces).n.Fr =.Fr  iw'x (s. (oPCre us vas nc.lfPC_l "\nTho)ncnlori s.e PM("vas 

=,"lsnc
oiw'x (s. (oPCre us vas r     pWPCt $tFr n.TofrocNthc AtoN 

.)nc0, **kwarsnc0, **kwGe FrWAn
oPCt $t[BackproLE_ l)lumsTarLabomsRwotri s.e ((rguThi l, rals).ch as"d
_Mces).n.Fr =oPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"elslur l)lumshfrocisnc
o"n.Fr==AfrocNthcr oasRNPredi
tAuto,	\Nlur l)lumshtoisnc
o"n.Fr==AtoN 

=[nlogTo].s= selsSHEc"""nlur l)lums.oPCt $CnssvdeiaHpnado, p	 wSRNErrce('Cur l)lums0rlqu,et founis'ce(frocNthc AtoN 

.PCnssv3.) E_HWPCt $Fr n.TofrocNthc AfrocPos AtoN 

	 toPos Abe usn.To) ==, .Mces).n.Fr =Se FrWAn
weCt $sBackproLE_ l)lumsTarLabomsRwotri s.e ((rguThi l, rals).ch as"d
_Mces).n.Fr =oPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"elslur l)lumshfrocisnc
o"n.Fr==AfrocNthcr oasRNPredi
tAuto,	\Nlur l)lumshtoisnc
o"n.Fr==AtoN 

=[nlogTo].s= selsSlur l)lumshweCt $[frocPos][toPos]oPCre us vas nc.ls= selsSHEc"""nbe us vas nc.lHpnado, p	 wSRNErrce('Cur l)lums0rlqu,et founis'ce(frocNthc AtoN 

.PCnssv3.) E_HOrderedIoPCnsc
= sTobe usn.To) ==, .Mces).n.Fr =Se FrslsSCorderedIoPCns ediGe usu Sc=, soesnelscoPCnss).n.Fr =.usSCALb'ordered# oashsssoorderc.lse)inPCnsuch as"d
_Mces).n.Fr =.Fr  orderedIoPCns )nbe us vas nc.lng.slsSCorderedIoPCns"et):nc.lseeidion.FsoadOrdere)nc0] *nLE_HEithhinPCns))E%T w't, == oPC_iL.....EEEELE_HEithhinPCns)
 PM("vas 

=,")lsSeon.FsoadOrder[iTo].iCnssv3.) (1=ifyArguThi ec
= sTos gn.To) ==, .Mces).n.Fr =V1=ifoFshLtat_(rguThi e ediE_HIoPCns  oasE_H = s)ne fic ap  s riatllysfGHT lted.ch as"d
_Mces).n.Fr =oPC_lTinL= sut )% 100Fr ="od]ot.stypel) NNos(st  oasRNPredi
tAuto,	\N]ot.stypel) NNostypes,(Tt $ts mpu=[0.0]))  oasRNPredi
tAuto,	\N]ot.stypel) NNosupsas oasRNPredi
tAuto,	\N]ot.stypel) NNoE_HE"et):nc.lseeidddddHEc"""n0l)lum 100Fr ="odstypel) NNoE_HE"et):nc.lseeidddddoPC_iL...l"et):nc.lseeidddddFr ="od]ot.stypei
r ifntri oashr]""n  +ncnlori s.e.keys(M("cisnc
thhi,"c.lseeidddddHEc"""n0l)lum 100Fr =CAncoPCE_HElayaelsssssoPC_iL...l"et):nc.lseeidddddFr ="od]ot.stypei
r iffsoa)"rtex]"t.stypei
r ifinE"et):nc.lseeidddddeeidddddHEc"""n0l)lum 100HEc"""n1PCE_Hr   E_HIoPCnsc
= sToinPCns).To) ==, .Mces).n.Fr =Se FrslsSCcoPCnsc."""PCnsu Loadorderriquby r  ault Hpu- bC =._ E_HOrderedIoPCnsc)sc."orderrinPCnsuch as"d
_Mces).n.Fr =ng.o""n.Fr  (1=ifyArguThi ecinPCns)rrtex]""n.Fr  ioTssssed1)E%T w't, == Hsnado, p	 wSRNErrce('E_HIoPCnsc)0HEquirFsh[[...],[...],...] PC_[{"sssvdN 

"1 [...]}, ...].'ToinPCns)s).n.Fr =.Fr  coPCns )ncoPCnss).n.Fr =.on.FsoadOrdere)nc0] *nLE_HEithhinPCns))E%T w't,oPC_iL.....EEEELE_HEithhinPCns)
 PM("vas 

=,"eon.FsoadOrder[iTo].iCnssvvvvvT eedTompu- b)nc lr Ur,)"od])edsbs vas r   E_HOi
t('sc
= sTodi
t('s).To) ==, .Mces).n.Fr =FPC_LE--stiblityuch as"d
_Mces).n.Fr =ncnloseH = s)necdi
t('s) vas r   E_H = s)nec
= sTo(= s)nen.To) ==, .Mces).n.Fr =Se FrWAn
(= s)ne.nc0, **kwarsCnssvdeiang.o""n.Fr  (1=ifyArguThi ec(= s)nenrrtex]""n.Fr  ioTssssed1)E%T w't, == Hsnado, p	 wSRNErrce('E_H = s)nec)0HEquirFsh[[...],[...],...] PC_[{"sssvdN 

"1 [...]}, ...].'To(= s)nens).n.Fr =ncnlot= s)nse)nt= s)nes).n.r   E_HIoPCnsAnd = s)nec
= sToesca1Toesca2=ne,e
=[nlogTo].sLis s):nc.lnnc.lsesE_HIoPCnsAnd = s)nec)s).n.Fr =Se FrWAn
corpus BacescaL   L
sn 
=i= Cannbb inEonleBackwotfGHT ls"es).n.Fr =FPCT ls1: E_HIoPCnsAnd = s)nec[[inPCn0To(= s)n0], [inPCn1To(= s)n1]...]PCElayaelsnnc.lsesE_HIoPCnsAnd = s)nec[[[i00Toi01, ...], [t00Tot01, ...]TTPCE_HElayaelssssssssssssssssssssssssss[[i10Toi11, ...], [t10Tot11, ...]TTPCE_HElayaelssssssssssssssssssssssssss...]PCElayaelsFPCT ls2: E_HIoPCnsAnd = s)nec[inPCn0ToinPCn1To...], [t= s)n0To(= s)n1, ...]PCElayaelsnnc.lsesE_HIoPCnsAnd = s)nec[[i00Toi01, ...], [i10Toi11, ...],...],PCE_HElayaelsssssssssssssssssssssssss[[t00Tot01, ...], [t10Tot11, ...],...] PCElayaelsnc0, **kwarsCnssvdeiang.esca2 NNone,ekl#l1r T ls#1eyeinikeywordcoPCns )nmap(lambda x: x[0], esca1))E%T w't, == t= s)nse)nmap(lambda x: x[1], esca1))E%T w't,CAncoA#s1r T ls2eyeinikeywordcoPCns )nesca1)E%T w't, == t= s)nse)nesca2s).n.Fr =ncnloseHIoPCnscinPCns)s).n.Fr =.Fr  E_H = s)nec(= s)nens).n.r   sbaociscec
= sToinNthc Adi
N 

.)nc0, **kwarsnc0, **kwinNthcTest L foasoi
N 

)s'uaneeedTobe suto-ibaociscaally) asanvasLis s):nc.llithhsbaocisca.l.sn)lsSC(inNthc Adi
N 

.ns).n.r   mapIoPCnc
= sTosssvdNn.F, offs)nro 

=[nlogTo].sLis s):nc.lAddsdsssvdNn.F foasoffs)nredicoPCnMapuch as"d
_Mces).n.Fr =ncnloh.PCnMapusn)lsSC(sssvdNn.F, offs)n.ns).n.r   mapIoPCnec
= sTo"n.FOffs)nPairen.To) ==, .   pairsinL"n.FOffs)nPaire PM("vas 

=,"eon.FmapIoPCncpair[0], pair[1Tg)ncnlr   map = s)nc
= sTosssvdNn.F, offs)nro 

=[nlogTo].sLis s):nc.lAddsdsssvdNn.F foasoffs)nredit= s)nMapuch as"d
_Mces).n.Fr =l"sSCt= s)nMapusn)lsSC(sssvdNn.F, offs)n.ns).n.r   map = s)nec
= sTo"n.FOffs)nPairen.To) ==, .   pairsinL"n.FOffs)nPaire PM("vas 

=,"eon.Fmap = s)ncpair[0], pair[1Tg)PM("v#_coPCns oast= s)n=ceeds """n.Fr   spu- b)ncOrderc
= s.laya CanvasLis s):nc.lspu- b)ncs"eon.FsoadOrder, MLo = dersinLohiPC coPCns  s)"withs).n.Fr =ncnloseHIoPCnsc) fic  s= snted.ch as"d
_Mces).n.Fr =oi3 =)nc0] *nLE_HEithhinPCns))E%T w't,.on.FsoadOrdere)nc0] *nLE_HEithhinPCns))E%T w't,oPC_iL.....EEEELE_HEithhinPCns)
 PM("vas 

=,"pos )ncot(mpu- bCr
= s[r* LE_HEithhinPCns)
PM("vas 

=,"= None(oi3 [pos]oP= sg)nc0, **kwas 

=,"pos )ncot(mpu- bCr
= s[r* LE_HEithhinPCns)
PM("vas 

=,"oi3 [pos]oP 1eyeinikeywordslsSCsoadOrder[pos]oP i
""n.Fr   tmpeVe.Fr c
= sTobe.Fr 1Tobe.2ToEE_HE
=[nlogTo].sLis s):nc.lCEpoFshbe.2n   + be.Fr 1obe
=i surleedireboms  ioTssssstifs s):nc.lnecessaryC =._ E_fy(lupeAoPC#s.l= ecs PC_s_fy(lupe = s)nec)s).n.Fr =ind.ead.ch as"d
_Mces).n.Fr =be.Fr 2o].ion.Freboms PoTsssss(be.2)s s):nc.lrengt i)niaunLE_Hbe.Fr 1), LE_Hbe.Fr 2)ntrtex.debng.slsSC(1== s)nco> 41)E%T w't, == einia:=CEpySCALVe.Fr  prs=be.Fr 2[EE_HE:EE_HE+rengt [i])ncw$ttm ;etotalCorsloPC_iL.....EEEElE_HEToEE_HE +lrengt g)nc0, **kwas 
be.Fr 1[p]oPCre.Fr 2[ [i])ncw$tt s[p"+o 1eyeinr   tmpeAoPC#s.l= ec
= sToest L,Are.ToEE_HE o 

=[nlogTo].sLis s):nc.lCEpoFsh
#
= s.l= en  Are.T + (s, rc=, soedsest L,Areboms
=iaya CanvaioTssssstiflnecessaryCch as"d
_Mces).n.Fr =be.Fr o].ion.Freboms PoTsssss(be.,sS'uanh"n.Fntrtex.debng.slsSC(1== s)nco> 41)E%T w't, == einia:=CEpySCALAoPC#s.l= e prs=be.Fr [EE_HE:EE_HE+rsnc
ope(1[i])ncw$ttrsnc
otmpeAoPC#s.l= ecbe.Fr [EE_HE:EE_HE+rsnc
ope(1[)eyeinr   tmpe = s)nec
= sToest L,Are.ToEE_HE o 

=[nlogTo].sLis s):nc.lCEpoFsht= s)nse  Are.T + rc=, soedsest L,Areboms
=iaioTsssssCnssvdeiang.oecessaryCch as"d
_Mces).n.Fr =be.Fr o].ion.Freboms PoTsssss(be.,sS'uanh"n.Fntrtex.debng.slsSC(1== s)nco> 41)E%T w't, == einia:=CEpySCAL = s)n prs=be.Fr [EE_HE:EE_HE+rsnc
ope(1[i])ncw$ttrsnc
otmpe = s)necbe.Fr [EE_HE:EE_HE+rsnc
ope(1[)eyeinr   s)nDscaCrossVz iesca.lc
= sTopos
=[nlogTo].sLis s):nc.ls s):nc.lse)inPCns/t= s)nse1r r aioTssssopos,n  sbau.FshLtats s):nc.lLt
dl "\ne fic rC lLi coPCns oasdi
t('t oasu"rc.lse)s(stsCnssvdeiann=.Fr  coPCns  oasE_nlot= s)nsuch as"d
_Mces).n.Fr =l"t = {}dithhi.lL"odstype.Fr  coPCns[pos]) NNoE_HE"et):nc.lseeids)n.wordsle.Fr  coPCns[pos]))E%T w't,CAncoet):nc.lseeids)n["coPCneTo].ion.FcoPCns[pos]trtex.debng.slsSCt= s)nsut )% 100Fr ="odstype.Fr  t= s)ns[pos]) NNoE_HE"et):nc.lseeideeids)n.wordsle.Fr  t= s)ns[pos])et):nc.lseeidCAncoPCE_HElayaelssssss)n["di
t('"To].ion.Ft= s)ns[pos]l)lum 100HEc"""ns)neyeinr   s)nDscaMapc
= sToinstyp,opos,nnn.F, offs)nro 

=[nlogTo].sLis s):nc.lHook ssnausdT + lookupd""nn.F, =oass)nritedrLabo
be.Fr uch as"d
_Cannbb oversoadsdT + s)nritedrLab a nwr tCAnc.nc0, **kwarsCnssvdeiang.instyptWWi"coPCne1)E%T w't, == be.Fr o].ion.FcoPCnss).n.Fr =CALE_instyptWWi"t= s)ne1)E%T w't, == be.Fr o].ion.Ft= s)nes).n.Fr =CAncoPCE_HElayaels
snadonnc.lllllraili Atinvz ie_mapeotyptLnas 
= instypl)lum 100HEc"""nbe.Fr [pos][offs)n:offs)n+ion.["n.F]ope(1]eyeinr   s)nDscac
= sTopos
=[nlogTo].sLis s):nc.ls s):nc.E_HEdL mry usedsinPCns oast= s)n=greferpos.snc0, **kwarsCnssvdeiaretbe  = {}dithhi.lLels[l)o>= LE_HEithhinPCns)oPCE_HElayaels
snadoIndexRNErrce('s)nDscac)aioTssssobeyotex)ncge.'Topos
trtex.debng.slsSC(1== s)nco>=s1: einia:=Gs)SystsinPCn",opos,n"... trtex.debng.LE_HEithhinPCnMap) NNo0ut )% 100Fr ="odstype.Fr  coPCns[pos]) NNoE_HE"HT aloow ioPCns edibei
.E_HEPCE_HElayaelsssssretbe .wordsle.Fr  coPCns[pos]))E%T w't,Fr =CAncoPCE_HElayaelsssssretbe [ncnlori s.ec0]o"n.FTo].ion.FcoPCns[pos]trtex.debCAncoA#smapIoPCn=l"t manulsSyPM("vas 

=,"or obe sann=.Fr  coPCnMapoPCE_HElayaelsssss(nn.F, offs)n) )nbe sPCE_HElayaelsssssretbe ["n.FTo].ion.Fs)nDscaMapc"inPCn",opos,nnn.F, offs)n)trtex.debng.slsSC(1== s)nco> 1: einia:=Loadu=i M= s)ne,opos,n"... trtex.debng.LE_HEithh(= s)nenrNNo0ut )% 100Fr ==._"HT ok, rest= s)nes).n.Fr =CALE_LE_Hl"sSCt= s)nMap) NNo0ut )% 100Fr ="odstype.Fr  t= s)ns[pos]) NNoE_HE"HT aloow t= s)nseedibei
.E_HEPCE_HElayaelsssssretbe .wordsle.Fr  t= s)ns[pos])et):nc.lseeidCAncoPCE_HElayaelsssssretbe [ncnlori s.ecLE_HEithhri s.el-1]o"n.FTo].ion.Ft= s)ns[pos]l)lum 100CAncoA#s st manulsSyPM("vas 

=,"or obe sann=.Fr  t= s)nMapoPCE_HElayaelsssss(nn.F, offs)n) )nbe sPCE_HElayaelsssssretbe ["n.FTo].ion.Fs)nDscaMapc"M= s)ne,opos,nnn.F, offs)n)trtex.debHEct )THEcbe "PM("v#_coPCnTos chitl)lur[,s oast= s)n=v1=ifousca.leyeinr   (1=ifyArchitl)lur[F
= s.laya CanvasLis s):nc.lCheckokeysdrphanedsest Ls PC_LE_ l)lumst.lAssurleetat_ s)ncoPC"n.FFFFFs chitl)lur[riqufeed-keywardpe-cycles).lCheckoLE_ l)luvityulCheckonn.aally) asanvasLis s):nc.lLE_LE_Hl"sSCcacheLi s.e)C!=   PC_lE_Hl"sSCcacheCur l)lumss)C!=  1bHEct )s s):nc.l#Tii3 el1r rlsnc
eetypttestsCnssvdeiahidde_IoPCn=P 1eyeinikeyhidde_Oi
t('hc.1.......eyeinikeydi
t('Li s.Fi3 =)n1..eyeinikeycoPCnLi s.Fi3 =)n1s s):nc.l#Te) "Ehareal "\ne foascur l)lumsss s):nc.lLE_LE_Hl"sSCri s.el NNo0ut )% 100Fr =Hsnado, p	 wSRNErrce('No
sisetheeli s.e.'ToRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNl"sSCri s.els s):nc.lLE_LE_Hl"sSCcur l)lumss)CNNo0ut )% 100Fr =Hsnado, p	 wSRNErrce('No
sisetheeLE_ l)lumst.'ToRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNl"sSCcur l)lumss)s s):nc.l#Tl "\ne .usSCAL]""nharea(s, rn.F "n.FTo) ==, .1r rx, yals.[(x, y).1r rxL.....EEEELE_HEithhri s.el
.1r ryL.....EEEELE_HEithhri s.el
]ut )% 100Fr ="odxCNNoy)nc0, **kwas 

=,"p._"HT s 

)s'uaneso rn.F "n.FTo) ==, .....CAncoPCE_HElayaelsssss#"difdsvaktsl "\ne .n.F "n.FTo) ==, .....Fr ="odncnlori s.ecx]o"n.Fr==Ancnlori s.ecy]o"n.F PM("vas 

=,")lsSSSSSHsnado, p	 wSRNErrce('Twotri s.e harea(s, rn.F "n.Fs'ce(x,y))s s):nc.l#Tresmultipsaslur l)lumss arLabomsri s.eTo) ==, .1r rx, yals.[(x,y).1r rxL.....EEEELE_HEithhcur l)lumss)
.1r ryL.....EEEELE_HEithhcur l)lumss)
]ut )% 100Fr ="odxCNNoy)nc0, **kwas 

=,"p._"HT s 

)lur l)lums vas nc.l....CAncoPCE_HElayaelsssss#"multipsaslur l)lumss arLabomsfrocL'uane oastoisnc
PCE_HElay....Fr ="odncnlolur l)lumsscx]ofrocisnc
o"n.Fr==Ancnlolur l)lumsscy]ofrocisnc
o"n.Fr oasRNPredi
tAuto,	\NNNNNncnlolur l)lumsscx]otoisnc
o"n.Fr==Ancnlolur l)lumsscy]otoisnc
o"n.F PM("vas 

=,")lsSSSSSHsnado, p	 wSRNErrce('Multipsaslur l)lumss arLabomsRwotri s.e.'ToRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNHEithhcur l)lumsscx]ofrocisnc
o"n.FToRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNncnlolur l)lumsscx]otoisnc
o"n.F))s s):nc.l#Tl "\neetypttestsCnssvdeiafPC_l "\nTho)ncnlori s.e PM("vas 

=,"#Tresunssnausdtri s.ePM("vas 

=,""odrsnc
otHElayae'Unssnausd'oPCE_HElayaelsssssrsnado, p	 wSRNErrce('Tprr(riquansunc=r l)lessrsnc
o',sS'uanh"n.Fntrtex.debbbbbCALE_Lsnc
otHElayae'' nput)nc0, **kwwwwwwwwwoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSSSSS#_coPCnsri s.e e) "Ehareadi
gont  lur l)lumss PM("vas 

=,")lsSSSSSelslur l)lumshfrocisnc
o"n.Fr==Asssvdo"n.F PM("vas 

=,")lsSSSSSSSSScoPCnLi s.Fi3 =)n0PM("vas 

=,")lsSSSSS#_coPCnsri s.e e) "Ehareandicocomnt  lur l)lumssPM("vas 

=,")lsSSSSSelslur l)lumshtoisnc
o"n.Fr==Asssvdo"n.F PM("vas 

=,")lsSSSSSSSSSrsnado, p	 wSRNErrceRNPredi
tAuto,	\NNNNNNNNNNNNNNNN(') "\nEhaseetypt\'' npu\'r oasenrcocomnt  lur l)lumso',sS'uanh"n.Fntrtex.debbbbbSSSSelscoPCnLi s.Fi3  PM("vas 

=,")lsSSSSSHsnado, p	 wSRNErrceRNPredi
tAuto,	\NNNNNNNNNNNN(') "\nEhaseetypt\'' npu\'rbu20readi
gont  lur l)lumss',sS'uanh"n.Fntrtex.debbbbbCALE_Lsnc
otHElayae'Oi
t(' )nc0, **kwwwwwwwwwoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSSSSS#_di
t('tri s.e e) "Ehareandidi
gont  lur l)lumss`PM("vas 

=,")lsSSSSSelslur l)lumshfrocisnc
o"n.Fr==Asssvdo"n.F PM("vas 

=,")lsSSSSSSSSSrsnado, p	 wSRNErrceRNPredi
tAuto,	\NNNNNNNNNNNNNNNN(') "\nEhaseetypt\'Oi
t('\'r oasenrdi
gont  lur l)lumsso',S'uanh"n.Fntrtex.debbbbbSSSSSSSS#_di
t('tri s.e e) "Ehareaenrcocomnt  lur l)lumsPM("vas 

=,")lsSSSSSelslur l)lumshtoisnc
o"n.Fr==Asssvdo"n.F PM("vas 

=,")lsSSSSSSSSSdi
t('Li s.Fi3 =)n0PM("vas 

=,")lsSelsdi
t('Li s.Fi3  PM("vas 

=,")lsSSSSSHsnado, p	 wSRNErrceRNPredi
tAuto,	\NNNNNNNNNNNN(') "\nEhaseetypt\'Oi
t('\'r oasndicocomnt  lur l)lumsso',sS'uanh"n.FnNNNNNNNNNNNtrtex.debbbbbCALE_Lsnc
otHElayae'Hidde_H)nc0, **kwwwwwwwwwoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSSSSS#_hidde_tri s.e e) "Ehareacocomnt   oasdi
gont  lur l)lumssoPM("vas 

=,")lsSSSSSelslur l)lumshtoisnc
o"n.Fr==Asssvdo"n.F PM("vas 

=,")lsSSSSSSSSShidde_IoPCn=P 0PM("vas 

=,")lsSSSSSelslur l)lumshfrocisnc
o"n.Fr==Asssvdo"n.F PM("vas 

=,")lsSSSSSSSSShidde_Oi
t('hc.0PM("vas 

=,")lsSelshidde_IoPCn=PC_hidde_Oi
t(' PM("vas 

=,")lsSSSSSHsnado, p	 wSRNErrceRNPredi
tAuto,	\NNNNNNNNNNNN(') "\nEhaseetypt\'Hidde_\'rbu20doesL]""nhareaboedsinPCns oasdi
t('tlur l)lumsso',RNPredi
tAuto,	\NNNNNNNNNNNNNS'uanh"n.Fntrtex.debbbbbCAncoPCE_HElayaelsssssrsnado) "\nRNErrce('Unknow_tri s. enep.o"ered#  Are=ifyArchitl)lur[F)o',sS'uanh"n.Fntrtex.deb#rsisetheesusSCAL]""nhareaunc=r l)lesssubrsisethethi"])ncpo#here=y_coPCnsri s.esusSCALhareaessoTyeediere=y_di
t('tri s.CnssvdeiafPC_inL "\nTho)ncnlori s.e PM("vas 

=,"elscoLsnc
otHElayae'' nput)nc0, **kwwwwwwwwwoPC_o('Li s.Tho)ncnlori s.e PM("vas 

=,"as 

=,"elso('Li s.otHElayae'Oi
t(' )nc0, **kwwwwwwwwwas 

=,"els]""n.Fr  ioTh(coLsnc
,so('Li s.
=[nlogTo].s= selsSCALE_HEEEEEEHsnado, p	 wSRNErrce('NisetheeLE_tainc.E_sc=r l)lesssubrsisethet.'ToRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNN(coLsnc
o"n.FToo('Li s.o"n.F))s s):nc.l#TsisetheesusSCAL]""nhareadirl)lesscyclesCnssvdeiafPC_l "\nTho)ncnlori s.e PM("vas 

=,""odncnloioTh(est L,Ali s.
=[nlogTo].s= selsSHsnado, p	 wSRNErrce('NisetheeLE_tainc.ascycleo',sS'uanh"n.FnNNNeyeinr   (1=ifyIoPCnec
= sg)nc0, **kwarsslon.Fr ==._d=inL  s ag s(() ediG1=ifyretat_eAn
sisetheecoPCnC"n.FFFFFs#
= s.l= enhareabbomss)n.aya CanvasLis s):nc.loPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhG1=ifyr oasLsnc
otHElayae'' nputr oasLsnc
oa.sa.1srtex]""nS'uanhs#
= s.l= SeE"et):nc.lseeidddddHsnado) "\nRNErrce"IoPCns  res]""n.Fns oas(1=ifyIoPCnec)0rlqurC lLi o_tri s. Lnas. 
= S'uanh"n.Ftrtex.debbbbbCAncoPCE_HElayaelsssssS'uanhmeE_HAoPC#s.l= Fi3 cPCnssv3.) (1=ify = s)nec
= sg)nc0, **kwarsslon.Fr ==._d=inLbaIw'Limc) ediG1=ifyretat_eAn
sisetheet= s)nsehareslon.Fr =bbomss)n.aya CanvasLis s):nc.loPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhG1=ifyr oasLsnc
otHElayae'Oi
t(' r oasLsnc
oa.sa.1srtex]""nS'uanht= s)nSeE"et):nc.lseeidddddHsnado) "\nRNErrce('T= s)ne fic ]""n.Fns oas(1=ify = s)nec)0rlqurC lLio',RNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNN(lsnc
o"n.FToLsnc
otHEl)ntrtex.debbbbbCAncoPCE_HElayaelsssssS'uanhmeE_H = s)nFi3 cPCPM("v#_eailirme s)nnt  ceeds """n.Fr     p =chu= c
= sTosssvdNn.F
=[nlogTo].sLis s):nc.ls s):nc.lse),C lqu oTos.chu=   .sa.sca.lrusedls.Wy s)ncoP efs-
aelsssssS'uanh[nlogTo].sLis s):nc.lHEc"""nncnlo*art $tt(sssvdN 

..  p =chu= c
= shty s)ncoPPCnssv3.) RMSRNErrs
= s.laya CanvasLis s):nc.ls s):nc.Ro""nMeenrSqusu=ddRNErrl1r r dTodi
t('tri s.e ls.WAiFrsisetheh[nlogTo].sLis s):nc.ltssro 
=iTotalTiogas 
 ;etotalCorsloPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhtHElayae'Oi
t(' )nc0, **kwwwwwwwwwtssr+=AsssvdoTSSRNErrs.l11111c.lseeidee(1 +=Asssvdoee(1s s):nc.lHEc"""nmoTh.sqrt(wtssr/ as 
 g)ncnl3.) TSSRNErrs
= sTosssvdNn.F
=[nlogTo].sLis s):nc.ls s):nc.Total SumrSqusu=ddeNErrl1r r(s, rc=, soedsest L'saioTssssh[nlogTo].sLis s):nc.lHEc"""nncnlo*art $tt(sssvdN 

..TSSRNErrs.l13.) Pinias
= sTomsgn.To) ==, ."odncnloro  PM("vas 

=,"ncnloro .writl(msg + "\n"))E%T w't,CAncoet):nc.lseeideinia:msgl13.) me s)nEpocyc
= sToepocy,wtssEr
thhital =chu= thhital =uit, rmsEr
thps.chu=  = {}
=[nlogTo].#hps.chu=  is   E_HE.ithri s. eNErr/s.chu=  esca=[nlogTo].#h  {sssvdN 

: [c=chu= thhital,aioTssssoc=chu= thioTssssohital]...}
as 

=,"ncnloPinias"Epocy(#%6d | TSSdRNErr: %.4f |  =chu= : %.4f | RMSdRNErr: %.4f 
= RNPredi
tAuto,	\NNNNN(epocy,wtssEr
thhital =chu=  * 1=ir/ hital =uit, rmsEr
)ntrtex.deboPC_l "\nN 

sinLps.chu=  PM("vas 

=,""odncnl[sssvdNn.F]oa.sa.1srtexncnl[sssvdNn.F]oas 
 > 1:l11111c.lseeidecnloPinias"eidEpocy(#%6d,oisnc
r= %-12s | Units: %.4f | PoTsssss: %.4f 
= RNPredi
tAuto,	\NNNNN,	\NNNNN(epocy,w"'" +lr "\nN 

s+w"'",PCE_HElayaelsssssssssssssssssfsoa)(ps.chu= [sssvdNn.F][0]
r/ ps.chu= [sssvdNn.F][1],PCE_HElayaelsssssssssssssssssfsoa)(ps.chu= [sssvdNn.F][2]
r/ ps.chu= [sssvdNn.F][3])ntrtex.debbbbbncnl[sssvdNn.F]ops.chu=  = ps.chu= [sssvdNn.F][2]trtex.debbbbbncnl[sssvdNn.F]ophital = ps.chu= [sssvdNn.F][3]trtex.debbbbbncnl[sssvdNn.F]os.chu=  = fsoa)(ps.chu= [sssvdNn.F][2]
r/ ps.chu= [sssvdNn.F][3]
as 

=,"nys stddi
.flushoPCnssv3.) s= s)nPoTssssc
= s):ae._"[etc.3.) s= s)nSE_HEc
= s):ae._"[etc.3.) s= s)nFinalc
= sToepocy,wtssEr
thhital =chu= thhital =uit, rmsEr
thps.chu=  = {}
=[nlogTo].#hps.chu=  is   E_HE.ithri s. eNErr/s.chu=  esca=[nlogTo].#h  {sssvdN 

: [c=chu= thhital,aioTssssoc=chu= thioTssssohital]...}
as 

=,"ncnloPinias"Final(#%6d | TSSdRNErr: %.4f |  =chu= : %.4f | RMSdRNErr: %.4f 
= RNPredi
tAuto,	\NNNNN(epocy-1,wtssEr
thhital =chu=  * 1=ir/ hital =uit, rmsEr
)ntrtex.deboPC_l "\nN 

sinLps.chu=  PM("vas 

=,""odncnl[sssvdNn.F]oa.sa.1srtexncnl[sssvdNn.F]oas 
 > 1:l11111c.lseeidecnloPinias"eidFinal(#%6d,oisnc
r= %-12s | Units: %.4f | PoTsssss: %.4f 
= RNPredi
tAuto,	\NNNNN,	\NNNNN(epocy-1,w"'" +lr "\nN 

s+w"'",PCE_HElayaelsssssssssssssssssfsoa)(ps.chu= [sssvdNn.F][0]
r/ ps.chu= [sssvdNn.F][1],PCE_HElayaelsssssssssssssssssfsoa)(ps.chu= [sssvdNn.F][2]
r/ ps.chu= [sssvdNn.F][3])ntrtex.debbbbbncnl[sssvdNn.F]ops.chu=  = ps.chu= [sssvdNn.F][2]trtex.debbbbbncnl[sssvdNn.F]ophital = ps.chu= [sssvdNn.F][3]trtex.debbbbbncnl[sssvdNn.F]os.chu=  = fsoa)(ps.chu= [sssvdNn.F][2]
r/ ps.chu= [sssvdNn.F][3]
as 

=,"nys stddi
.flushoPCnssv#L
sn srtexnweep ceeds """n.Fr   doWh2saoh=
=,ohital =uit, hital =chu= 
=[nlogTo].HEc"""nhital =uitC!=   rtex((hital =chu=  * 1=ir/ hital =uit <=ncnlostopPerelifs PC_s_fy(heiCrossVz iesca.lr     PCnssv3.) t
sn eh=
=,onweeps=ne,e, LE_t=

=[nlogTo].sLis s):nc.lTrainc.eAn
sisetheeon.lse)escas)nreedToa)p   pnt  lurdlums= isCnssvdeiaceeu bomArs   pnt  lurdlums= cannbb a#limi"nt  epocy(r r aierelifage=s.chu= 0HEquirFmlifuch as"d
_Mces).n.Fr =# checkos chitl)lur[
as 

=,"ncnloru--

tl ;etotalCorslslsSC(1=ifyArchitl)lur[F)s s):nc.ltssEr
ro 
=i; rmsEr
ro 
=i; hital =chu=  o 
; hital =uit = 1; hitalPC.chu=  = {}To) ==, ."od]""nLE_toA#s E_HEnt   fmeEhtrtex.debbbbbncnlos= s)Fi3 ec)Crtex.debbbbbncnloepocy(nl0trtex.debbbbbncnlos= s)nSE_HEc)Crtex.debbbbbncnlos= s) =uit = 1Crtex.debbbbbncnloepocy(nl1eyeinikeywordslsSCsastLowestTSSRNErro].iys maxnia:#b a n w'ximumrmiddle(]""n dTopyeds enhareaInfh.0=y))E%T w't, == elsnweepss!None,ekeyeinikeywordbbbbncnlos= s)Epocy(nlnweeps)E%T w't,CAncoet):nc.lseeidelsnweepss!None,ekeyeinikeywordbbbbncnlos= s)Epocy(nlncnloepocy(+snweepss-l1eyeinikey= NonencnlodoWh2saohital =uit, hital =chu= 
=[nlogTo].....(tssEr
thhital =chu= thhital =uit, hitalPC.chu= )(nlncnlosweepiseyeinikeywordslsSCru--

tl ;e1et):nc.lseeidelshital =uitC!=  "et):nc.lseeidddddHmsEr
ro moTh.sqrt(tssEr
r/ hital =uit)et):nc.lseeidCAncoPCE_HElayaelssssss)nloPinias"War 
=i:xnweep didn'tldo rtyedlsg!"))E%T w't, == elsncnloepocy(%bncnlos= s)nRatle=o 
keyeinikeywordbbbbncnlos= s)nEpocyc
= s.epocy,wtssEr
thhital =chu= thhital =uit, rmsEr
thhitalPC.chu= )eyeinikeywordbbbbLE_LE_Hl"sSCcrossVz iesca.lCorpus) > 0 PC_s_fy(sutoCrossVz iesca.l=[nlogTo].s= selsSCALE(tssCVEr
thhital V =chu= thhital V =uit, hital VPC.chu= )(nlncnlosweepCrossVz iesca.lcntrtex.debbbbbSSSSSSSSrmsCVEr
ro moTh.sqrt(tssCVEr
r/hhital V =uitntrtex.debbbbbSSSSSSSSs)nloPinias"CVSSSS#%6d | TSSdRNErr: %.4f |  =chu= : %.4f | RMSdRNErr: %.4f 
= RNPredi
tAuto,	\NNNNNs= selsSCALE(
= s.epocy,wtssCVEr
thhital V =chu=  * 1=ir/ hital V =uit, rmsCVEr
)ntrtex.debbbbbSSSSSSSSelsncnlosutoSaveWPCt $t=2sas!None,ee oastssCVEr
r=sncnlostopPerelif  oasE_nloheiCrossVz iesca.lr     keyeinikeywordbbbbCALE_HEEslsSCepocy(+;e1et):nc.lseeidddddddddddddbreak)E%T w't, == elsncnlos= s)Epocy(nnlncnloepocykeyeinikeywordbbbbelsncnlos= s) =uit ==sncnlos= s)Limi"keyeinikeywordbbbbCALEs)nloPinias"R= s)#limi""HEached;)lsSnt  oiedsu""HEachnt  goal"ntrtex.debbbbbSSSSSSSSs)nloepocy(+;e1et):nc.lseeidddddddddncnloru--

tl ;etotalCorslddddddddddddbreak)E%T w't, == ddddncnlos= s) =uit +;e1et):nc.lseeiddddds)nloPinias"RESET! s= s)Epocy(HEached;) E_HEnt  over... .l11111c.lseeideithhh.0== s)ncoPTo) ==, .........tssEr
ro 
=i; rmsEr
ro 
=i; ncnloepocy(nl1; hital =chu=  o 
; hitalPC.chu=  = {}To) ==, .........LE_tinus vas nc.ls= ss)nloepocy(+;e1et):nc.lselshital =uitC> 
keyeinikeywordncnlos= s)nFinalc
= s.epocy,wtssEr
thhital =chu= thhital =uit, rmsEr
thhitalPC.chu= )eyeinikeywordLE_LE_Hl"sSCcrossVz iesca.lCorpus) > 0 PC_s_fy(sutoCrossVz iesca.l=[nlogTo].s= selsS(tssCVEr
thhital V =chu= thhital V =uit, hital VPC.chu= )(nlncnlosweepCrossVz iesca.lcntrtex.debbbbbSSSSrmsCVEr
ro moTh.sqrt(tssCVEr
r/hhital V =uitntrtex.debbbbbSSSSs)nloPinias"CVSSSS#%6d | TSSdRNErr: %.4f |  =chu= : %.4f | RMSdRNErr: %.4f 
= RNPredi
tAuto,	\NNNNNs= selsSc
= s.epocy-1,wtssCVEr
thhital V =chu=  * 1=ir/ hital V =uit, rmsCVEr
)ntrtex.debbbbbSSSSelsncnlosutoSaveWPCt $t=2sas!None,ee oastssCVEr
re=s< .sa.sca.l/t= s)n)s(st>ch as"d
_[nlogTo].sLis s):nc.lng.slsSC(1== s)nco>  1)E%T w't, == einia:=nnc.lsesEtepisurC lLi oied:",=argss).n.Fr =# F.n.F,_LEpy.lse)middlen   + eiRrss#
= s.l= enr r(= s)nsut )% 100re(= sse=sncnlopreStepi**args
s s):nc.lng.re(= ss: = sse=sre(= sse#ireboms  ""e (rgss).n.Fr =# P s ag s(  .sa.sca.lrthrough sisetheut )% 100re(= sse=sncnlopreP s ag s(i**args
s s):nc.lng.re(= ss: = sse=sre(= sse#ireboms  ""e (rgss).n.Fr =ncnloprs ag s(i**args
s s):nc.lre(= sse=sncnlopostP s ag s(i**args
s s):nc.lng.re(= ss: = sse=sre(= sse#ireboms  ""e (rgss).n.Fr =#lnnxt, hakc rCrP efs-ny Auto-ibaociscaon, foascupys).n.Fr =#ls#
= s.l= entest= s)nes).n.Fr =1r r aTho)ncnloibaociscaon=[nlogTo].....(inNthc Adi
N 

.e=saa[nlogTo].....inL "\nT].ion.Fs)nt $tt(inNthc)eyeinikeywordLE_coLsnc
otHEla]""n  +['' nput, "Hidde_"]"et):nc.lseeidddddHsnado) "\nRNErrce('Abaocisced_coPCnsri s.e]"t.stypt\'' npu\'rr r\'Hidde_\'.'ToRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNcoLsnc
otHEl)eyeinikeywordo('Li s.T].ion.Fs)nt $tt(di
N 

.eyeinikeywordLE_]"t.o('Li s.otHElayae'Oi
t(' )nc0, **kwwwwwwwwwHsnado) "\nRNErrce('Abaocisced_di
t('tri s.e]"t.stypt\'Oi
t('\'.'ToRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNo('Li s.otHEl)eyeinikeywordo('Li s.otmpe = s)neccoLsnc
os#
= s.l= )s s):nc.l#TC
=PCne eNErr, foasbaIwA  s  i"keyeinikeyre(= sse=sncnlopreBaIw'Limc**args
s s):nc.lng.re(= ss: = sse=sre(= sse#ireboms  ""e (rgss).n.Fr =(eNErr, c=chu= thhital,aic.chu= )(nlncnlobaIw'Limc**args
=# c
=PCne_eaili(
s s):nc.lng.slsSC(1== s)nco> 2 PC_s_fy(h., sa.sa.1keyeinikeywordncnloasssladts)E%T w't, == elsncnloh., sa.sa.1keyeinikeywordwordncnloprocpl(
s s):nc.lre(= sse=sncnlopostBaIw'Limc**args
s s):nc.lng.re(= ss: = sse=sre(= sse#ireboms  ""e (rgss).n.Fr =#dLE_LEar 
=i is tru[,s oasncempediwordsl oPCt $t[prr(.To) ==, ."odncnlorEar 
=i rtex]""n.Fr  baws keyeinikeywordncnloLi thr_oPCt $t()d#bCAncALi thr oPCt $t[ho)nweeps s):nc.lre(= sse=sncnlopostStepi**args
s s):nc.lng.re(= ss: = sse=sre(= sse#ireboms  ""e (rgss).n.Fr =ncnlos= s)nPoTssssc)trtex.debHEct )T(eNErr, c=chu= thhital,aic.chu= )Cnssv#Hookse1r r dSnt  bi$t[oiedsu""havnt  edibreakup_stepLs, t
sn ea,srtexnweepoPCnssv3.) preBaIw'Limch=
=,o**args
=debHEct )Tne,eCnssv3.) postBaIw'Limch=
=,o**args
=deHEct )Tne,eCnssv3.) preP s ag s(ih=
=,o**args
=deHEct )Tne,eCnssv3.) postP s ag s(ih=
=,o**args
=dHEct )Tne,eCnssv3.) preStepLh=
=,o**args
=tex.debHEct )Tne,eCnssv3.) postStepLh=
=,o**args
=tex.deHEct )Tne,eCnssv3.) preSweepo
= s):aaaaaae._"[etc.3.) postSweepo
= s):aaaaae._"[etc.3.) sweepo
= s):[nlogTo].sLis s):nc.lRunc.eArough lstir )escas)n.snc0, **kws s):nc.TSSdeNErr, hital c=chu= thhital c=uit, ps.chu=  (  E_HE.ithri s. esca)[nlogTo].sLis s):nc.lncnlopreSweepiseyeinikey"odncnloroadOrdere)= []"et):nc.lseeidHsnado, p	 wSRNErrce('No
roadOrdere1r r(s, ""PCnsu Makc surleioPCns  res'Limerly E_Hu',dncnloroadOrderls s):nc.lLE_LE_Hl"sSC(= s)nenr!=   rtexLE_Hl"sSC(= s)nenr!= LE_HEithhinPCns)oPCE_HElayaels
snado, p	 wSRNErrce"NC lqu oToioPCns doesL]""nequal ,C lqu oTot= s)nsecinPCns=%dTo(= s)ne=%d) 
= (LE_Hl"sSC(= s)nen, LE_HEithhinPCns)
PM("vas 
ng.slsSC(1== s)nco>=s1: einia:=Epocy(#",=ncnloepocy,w"Cycleo.. trtex.debng.]""n.Fr  orderedIoPCns"et):nc.lseeidion.Fspu- b)ncOrderc)s s):nc.ltssEr
o
ro 
=i; hital =chu=  o 
; hital =uit = 
; hitalPC.chu=  = {}To) ==, .co""n.FE(trhngiTi )se
upsaveResulns"et):nc.lseeidion.Fsesulnse)nc(0,0,0).1r rxL...ncnloroadOrder]
as 

=,"oPC_iL...ncnloroadOrder PM("vas 

=,""odncnlo(1== s)nco>=s1 PC_s_fy(h., sa.sa.1keyeinikeywordddddeinia:=-----------------------------------PoTssss(#",=ncnlosoadOrder[iTo+e1et):nc.lseeidescu(hc.ion.Fs)nDscaci
=# createc.(sE_HEdL mry oToinPCn/t= s)nse1rLab ithhinPCns,=ncnlot= s)nes).n.Fr =
=,""odcit <=LE_HEithhroadOrderls-l1keyeinikeywordwordncnlocurvaktSweep =uit = cnEPCE_HElayaelsCAncoPCE_HElayaelssssss)nlocurvaktSweep =uit = ne,eCnssvaelssssss)nlo_sweep
=i tt1et):nc.lseeid(eNErr, c=chu= thhital,aic.chu= )(nlncnlostepLo**escu(hseyeinikeywordslsSC_sweep
=i tt0l)lum 100Fr ="odse
upsaveResulns"et):nc.lseeidwordslsSCsesulns[iTo].(eNErr, c=chu= thhital,aic.chu= )CnssvvvvvvvvvtssEr
o
r+=deNErrCnssvvvvvvvvvtital =chu=  +=dc.chu= Cnssvvvvvvvvvtital =uit +;etitaleyeinikeywordsumMe s)(hitalPC.chu= ,aic.chu= )Cnssvvvvvvvvv"od(cit +e1)
= slsSCsweepRe s)nRatle=o 
keyeinikeywordddddeinia:=dddStep=# %6d | TSSdRNErr: %.4f |  =chu= : %.4f 
= RNPredi
tAuto,	\NNNNNs= (cit +e1,vtssEr
o
thhital =chu=  * 1=ir/ hital =uits)E%T w't, == elsncnlocrossVz iesca.lSa--

Ratle oasE_nloepocy(%bncnlocrossVz iesca.lSa--

Ratle=o 
keyeinikeywordbbbbncnlosavetoait

ForCrossVz iesca.lc
= socrossVz iesca.lSa--

n2sas)E%T w't, == cit +;e1et):nc.ls"odncnlorEar 
=i rtex.Fr  baws keyeinikeywordncnloLi thr_oPCt $t()d#bbaws imeil AdRrwincALi thr oPCt $t[ho)nteps s):nc.lncnlopostSweepiseyeinikeyHEct )T(tssEr
o
thhital =chu= thhital =uit, hitalPC.chu= )[etc.3.) sweepCrossVz iesca.lc
= s):[nlogTo].sLis s):nc.lsweepCrossVz iesca.lcneeedTogo.eArough lachhBackproLrossvz iesca.l inPCn/t= s)nsuch as"d
_TproLrossVz iesca.lCorpus is   s(st Bace_HEdL mroFshoToinPCn/t= s)nseyeinikeyHEdsvakcedsbyosssvd"n.FseyeinikeyExa--

: ({"coPCne1 [0.0, 
=1], "di
t('"1 [1=i]}, {"coPCne1 [0.5, 
=9], "di
t('"1 [0.0]})[nlogTo].sLis s):nc.l# s)nrrEar 
=i middle oasthen.lt )Tit Bafs s):nc.loldLear 
=i ttncnlorEar 
=is s):nc.lncnlolear 
=i tt0l)lum 100tssEr
o
ro 
=i; hital =chu=  o 
; hital =uit = 
; hitalPC.chu=  = {}To) ==, .slsSC_cv = Tru[S#_cortross vz iesca.ldithhi.lLelsncnlosutoCrossVz iesca.l=[nlogTo].s= soPC_iL.....EEEELE_HEithhinPCns)
 PM("vas 

=,")lsSeothc.ion.Fs)nDscaCrossVz iesca.lcintrtex.debbbbbSSSSs)nlo_sweep
=i tt1et):nc.lseeiddddd(eNErr, c=chu= thhital,aic.chu= )(nlncnlostepLo**eothntrtex.debbbbbSSSSs)nlo_sweep
=i tt0PM("vas 

=,")lsSels
= socrossVz iesca.lRe s)nLi s.e != []"et):nc.lseeideeiddddd(eNErr, c=chu= thhital,aic.chu= )(nlncnlos)nRNErrs *
= socrossVz iesca.lRe s)nLi s.e PTo) ==, .........tssEr
o
r+=deNErrCnssvvvvvvvvv....tital =chu=  +=dc.chu= Cnssvvvvvvvvv....tital =uit +;etitaleyeinikeywordSSSSsumMe s)(hitalPC.chu= ,aic.chu= )CnssvvvvvCAncoPCE_HElayaelsfPC_s_"n  +ncnloLrossVz iesca.lCorpuskeyeinikeywordbbbbncnlo_sweep
=i tt1et):nc.lseeiddddd(eNErr, c=chu= thhital,aic.chu= )(nlncnlostepLo**eothntrtex.debbbbbSSSSs)nlo_sweep
=i tt0PM("vas 

=,")lsSels
= socrossVz iesca.lRe s)nLi s.e != []"et):nc.lseeideeiddddd(eNErr, c=chu= thhital,aic.chu= )(nlncnlos)nRNErrs *
= socrossVz iesca.lRe s)nLi s.e PTo) ==, .........tssEr
o
r+=deNErrCnssvvvvvvvvv....tital =chu=  +=dc.chu= Cnssvvvvvvvvv....tital =uit +;etitaleyeinikeywordSSSSsumMe s)(hitalPC.chu= ,aic.chu= )Cnssvvvvvncnlolear 
=i ttoldLear 
=iTo) ==, .slsSC_cv = FaAnceyeinikeyHEct )T(tssEr
o
thhital =chu= thhital =uit, hitalPC.chu= )[etc.3.) savetoait

ForCrossVz iesca.lc
= s, f2sa"n.F, meile=s'a'n.To) ==, . m ;eimen(f2sa"n.F, meil)s s):nc.l#TfPC_Eachhlsnc
,="odstyp is IoPCn=PC_Oi
t(', saveTit useds"n.Ftrtex.deb#Eonlemer s(,eCnssvaelsfp.writl("{ .l11111oPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhtHElayae'' nput)nc0, **kwwwwwwwwwop.writl('"' +lr "\no"n.Fr+ '"1 ['PTo) ==, .........writlA mpu=fp,sLsnc
oa.sa.scaon, deli(hc.",=",=nlro 

nc0, **kwwwwwwwwwop.writl('], 'PTo) ==, .....CALE_Lsnc
otHElayae'Oi
t(' )nc0, **kwwwwwwwwwop.writl('"' +lr "\no"n.Fr+ '"1 ['PTo) ==, .........writlA mpu=fp,sLsnc
ot= s)n, deli(hc.",=",=nlro 

nc0, **kwwwwwwwwwop.writl('], 'PTo) ==, .fp.writl("}\n"))E%T w't,fp.closeoPCnssv3.) roadCrossVz iesca.lc
= s, f2sa"n.Fn.To) ==, .ncnloLrossVz iesca.lCorpuse)nc]To) ==, . m ;eimen(f2sa"n.F, "r .l11111oPC_l(,eTho)f keyeinikeywordE_HE.=devz (_l(,eTseyeinikeywordslsSCrrossVz iesca.lCorpususn)lsSCdE_HE.))E%T w't,fp.closeoPCnssv3.) cyclec
= s):[nlogTo].sLis s):nc.lAlssssatleedinweepoPh[nlogTo].sLis s):nc.lHEc"""nncnlonweepoPCCnssv3.) numCur l)lec
= sToest LNn.F
=[nlogTo].sLi NC lqu oToiocomnt  oPCt $tToincluSnt  biat.lAssu.Fshfully c=r l)les..sLis s):nc.lc=uit = 
dithhi.lLelsncnl[sssvdNn.F]oa.sa.1:Ntrtex.debbbbbc=uit +;e1b#E1 = biatPCE_HElayaelsfPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSelslur l)lumsha.sa.1srtexlur l)lumshfrocisnc
oa.sa.1srtexlur l)lumshtoisnc
o"n.Fr==AsssvdN 

=[nlogTo].s= selsSbbbbc=uit +;elur l)lumshfrocisnc
oee(1s s):nc.lHEc"""nc=uitCPM("v#_prs ag sumsTceeds """n.Fr   prs _froceh=
=,onE_HELi s.en.To) ==, .Mces).n.Fr =SE_HE prs ag sumsT1rLabLt
dl "\ne in.lse)s(stTo) ==, .nE_HELi s.eu Makc surlenE_HELi s.e  resh.0== s)ncmpusedslseTo) ==, .desired# #
= s.l= e. NO ERROR CHECKINGly) asanvasLis s):nc.lLE_slsSC(1== s)nco> 2: einia:=P_HEnlsSy prs ag sut  sisethe:is s):nc.l# fioasedToLt
dl "\ne involv_d=inLLt
dprs ag sumss s):nc.lprs ag s(Li s.e )nc]To) ==, .#lprs ag s(Li s.e susSCAL]""nincluSlenE_HELi s.e (n+ loops))E%T w't,oPC_nE_HELi s.[ho)nt_HELi s.eoPCE_HElayaelsfPC_l "\nTho)ncnlori s.e PM("vas 

=,"nc.lLE_slsSCioTh(nt_HELi s.,Ali s.
=[nlogTo].s= selsSnc.lprs ag s(Li s.eusn)lsSCli s.
l11111oPC_l "\nTho)prs ag s(Li s.e PM("vas 

=,"elsS'uanha.sa.1:Ntrtex.debbbbbbbbbr "\no"etioPCn=P (lsnc
ooPCt $)otmpecnel11111oPC_l "\nTho)prs ag s(Li s.e PM("vas 

=,"elsS'uanha.sa.1:nc0, **kwwwwwwwwwoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSSSSSelslur l)lumsha.sa.1srtexlur l)lumshtoisnc
o"n.Fr==Asssvdo"n.F PM("vas 

=,")lsSSSSSSSSSlur l)lumshtoisnc
o"etioPCn=P lur l)lumshtoisnc
o"etioPCn=+oRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNs,(Tt $tmatrixmultipsy(lur l)lumshfrocisnc
oa.sa.scaon,RNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNN("vas 

=,")lsSSSSSSSSSlur l)lumshoPCt $).#lprs ag s(!PM("vas 

=,"nc.lLE_Lsnc
otHEla!ae'' nput)nc0, **kwwwwwwwwwwwwwLsnc
oa.sa.scaone=sncnlosoPC#s.l= Fun)lums(r "\no"etioPCn
l11111oPC_l "\nTho)prs ag s(Li s.e PM("vas 

=,"elsS'uanhlogr oasLsnc
oa.sa.1oPCE_HElayaelsssssS'uanhwritlLogoPCnssv3.) prs ag s(ih=
=,o**args
=y) asanvasLis s):nc.lP s ag s(s  .sa.sca.lrthrough eAn
sisethe. OpEdL msSy, hakcs_coPCnsri s.e]n.FtPCE_HElayas keyethds,e oastheir sbaocisced# #
= s.l= e. If_coPCnsri s.(s) fic grefe, MLoss s):nc.lprs ag s(cneeedToHEc"""nhhe_di
t('tri s.'s  .sa.sca.l. If_tprr(riqumorleetass s):nc.lonleBi
t('tri s., MLos.(sE_HEdL mry iquHEc"""ed.ceyeinikeyExa--

s"es).n.Fr =>>>
sisoprs ag s(i)s).n.Fr =>>>
sisoprs ag s(iioPCn=P [0, .5, 
], LE_texn=P [.5, .5, .5])et):nc.ls{"di
t('"1 [0.345]}To) ==, .y) asanvasLis s):nc.loPC_keyTinL= se PM("vas 

=,"li s.T].ion.Fs)nt $tt(key)eyeinikeywordLE_L'uanhkioasyae'' nput)nc0, **kwwwwwwwwwelsncnl[key]hG1=ifyr oas]""n.Fr [key]hs#
= s.l= SeEe=o 
k PM("vas 

=,")lsSSSSS
snadonnc.lllllraili AtoTssmpt ediE_Hss#
= s.l= enrn_coPCnsri s.eLnas oiedsu""HEE_H 
= keytrtex.debbbbbSSSSs)nlotmpeAoPC#s.l= ecri s., = se[key]PTo) ==, .....CALE_Lsnc
okioasyae'CE_texnt)nc0, **kwwwwwwwwws)nlotmpeAoPC#s.l= ecri s., = se[key]PTo) ==, .....CALE_Lsnc
okioasyae'Oi
t(' r oasLen(= se[key]Pr==Asssvdoee(1:S#_cortaadoyou expu=  prs ag s( editasdlenhhe_di
t('sPM("vas 

=,")lsSs)nlotmpe = s)necri s., = se[key]PTo) ==, .slsSC(1=ifyIoPCnec)0# arLt\nEhavleioPCns s)neyeinwwwwelsncnlC(1== s)nco> 2: einia:=Prs ag s( Nisethee'" +lncnlCn 

s+w"':is s):nc.l# h.0== s)nc "etioPCn:l11111oPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhtHEla!ae'' nputr oasLsnc
oa.sa.1oPCE_HElayaelsssssS'uanh"etioPCn=P (lsnc
ooPCt $)otmpecnel11111#TfPC_Eachhlur l)lums, inEorder PM("vas 
oPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanha.sa.1:nc0, **kwwwwwwwwwoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSSSSSels(lur l)lumshtoisnc
o"n.Fr==Asssvdo"n.FNPredi
tAuto,	\NNNNNNNNNNrtexlur l)lumshfrocisnc
oa.sa.1NPredi
tAuto,	\NNNNNNNNNNrtexlur l)lumsha.sa.1
=[nlogTo].s= selsSCALE_HEElur l)lumshtoisnc
o"etioPCn=P lur l)lumshtoisnc
o"etioPCn=+oRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNs,(Tt $tmatrixmultipsy(lur l)lumshfrocisnc
oa.sa.scaon,RNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNN("vas 

=,")lsSSSSSSSSSlur l)lumshoPCt $).#lprs ag s(!PM("vas 

=,"nc.lLE_Lsnc
otHEla!ae'' nput)nc0, **kwwwwwwwwwwwwwLsnc
oa.sa.scaone=sncnlosoPC#s.l= Fun)lums(r "\no"etioPCn
l11111oPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhlogr oasLsnc
oa.sa.1oPCE_HElayaelsssssS'uanhwritlLogoPCnssvvvvviify(luuit +;e1b#Eluuits ,C lqu oToti.Fshprs ag s(cneiqurC lLieyeinwwwwelsLen(= se)C!=  "et):nc.lseeidE_HE.=d{}To) ==, .....fPC_l "\nTho)ncnlori s.e PM("vas 

=,"nc.lLE_Lsnc
otHElayae"Oi
t('"1nc0, **kwwwwwwwwwwwwwE_HE[sssvdo"n.FTo].Lsnc
oa.sa.scaonotmpecnPM("vas 

=,"elsSen(E_HEPr==A1keyeinikeywordwordHEc"""nE_HE[E_HE.keyec)[0]]To) ==, .....CAncoPCE_HElayaelsssssret"""nE_HECnssv3.) prs ag s(Tooh=
=,ohiLi s.,A**args
=y) asanvasLis s):nc.lP s ag s(s  .sa.sca.lrto   ssnc
o OpEdL msSy, hakcs_coPCnsri s.e]n.FtPCE_HElayas keyethds,e oastheir sbaocisced# #
= s.l= e. s s):nc.lse)hiLi s.'s  .sa.sca.l.ceyeinikeyExa--

s"es).n.Fr =>>>
sisoprs ag s(Too"di
t('"nPM("vas 
[0.34]s).n.Fr =>>>
sisoprs ag s(Too"hidde_"nPM("vas 
[0.12, 
=05, 
=61, 
=99]s).n.Fr =>>>
sisoprs ag s(Too"hidde_"ToinPCn=P [0, .5, 
], LE_texn=P [.5, .5, .5])et):nc.ls[0.54, 
=98, 
=57, 
=34]s).n.Fr =sLis s):nc.loPC_l "\nN 

sinL= se PM("vas 

=,"ncnl[sssvdNn.F]oa.sa.s.l= SeEe= 01#TfPCceTit edibeiokPM("vas 

=,"ncnl[sssvdNn.F]otmpeAoPC#s.l= ec= se[sssvdNn.F])s s):nc.l#Th.0=)hiLi s..To) ==, .ncnl[hiLi s.]h"etioPCn=P (ncnl[hiLi s.]hoPCt $)otmpecnel11111#TfPC_Eachhlur l)lums, inEorder PM("vas 
oPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"elslur l)lumsha.sa.1srtexlur l)lumshtoisnc
o"n.Fr==Atoisnc
Nrtexlur l)lumshfrocisnc
oa.sa.1oPCE_HElayaelssssslur l)lumshtoisnc
o"etioPCn=P lur l)lumshtoisnc
o"etioPCn=+oRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNs,(Tt $tmatrixmultipsy(lur l)lumshfrocisnc
oa.sa.scaon,RNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNN("vas 

=,")lsSlur l)lumshoPCt $).#lprs ag s(!PM("vas 

=,"nc.lLE_ncnl[hiLi s.]htHEla!ae'' nput)nc0, **kwwwwwwwwwwwwwncnl[hiLi s.]ha.sa.scaone=sncnlosoPC#s.l= Fun)lums(ncnl[hiLi s.]h"etioPCnseyeinikeyHEct )Tncnl[hiLi s.]ha.sa.scaonotmpecnPM("v3.) prs ag s(Froceh=
=,onE_HELi s.,o**args
=y) asanvasLis s):nc.lP s ag s(s  .sa.sca.lrthrough eAn
sisethe. OpEdL msSy, hakcs_coPCnsri s.e]n.FtPCE_HElayas keyethds,e oastheir sbaocisced# #
= s.l= e. If_coPCnsri s.(s) fic grefe, MLoss s):nc.lprs ag s(cneeedToHEc"""nhhe_di
t('tri s.'s  .sa.sca.l. If_tprr(riqumorleetass s):nc.lonleBi
t('tri s., MLos.(sE_HEdL mry iquHEc"""ed.ceyeinikeyExa--

s"es).n.Fr =>>>
sisoprs ag s(i)s).n.Fr =>>>
sisoprs ag s(iioPCn=P [0, .5, 
], LE_texn=P [.5, .5, .5])et):nc.ls{"di
t('"1 [0.345]}To) ==, .y) asanvasLis s):nc.loPC_l "\nN 

sinL= se PM("vas 

=,"ncnl[sssvdNn.F]otmpeAoPC#s.l= ec= se[sssvdNn.F])s s):nc.l#Th.0== s)nc "etioPCn:l11111nE_HEed#;etotalCorsloPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanh"n.Fr==AnE_HELi s.)nc0, **kwwwwwwwwwsE_HEed#;e1et):nc.lseeidddddLE_tinuss#"don'tls)nreomAre,eCnssvaelsssssng.]""n.E_HEed:.LE_tinus vas nc.ls= selsS'uanhtHEla!ae'' nputr oasLsnc
oa.sa.1oPCE_HElayaelsssssS'uanh"etioPCn=P (lsnc
ooPCt $)otmpecnel11111#TfPC_Eachhlur l)lums, inEorder PM("vas 
nE_HEed#;etotalCorsloPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanh"n.Fr==AnE_HELi s.)nc0, **kwwwwwwwwwsE_HEed#;e1et):nc.lseeidddddLE_tinuss#"don'tls)nrioPCns    + eomAre,eCnssvaelsssssng.]""n.E_HEed:.LE_tinus vas nc.ls= selsS'uanha.sa.1:nc0, **kwwwwwwwwwoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSSSSSelslur l)lumsha.sa.1srtexlur l)lumshtoisnc
o"n.Fr==Asssvdo"n.FNrtexlur l)lumshfrocisnc
oa.sa.1oPCE_HElayaelssssseeidddddLE_ l)lumshtoisnc
o"etioPCn=P lur l)lumshtoisnc
o"etioPCn=+oRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNs,(Tt $tmatrixmultipsy(lur l)lumshfrocisnc
oa.sa.scaon,RNPredi
tAuto,	\NNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNNN("vas 

=,")lsSSSSSSSSSlur l)lumshoPCt $).#lprs ag s(!PM("vas 

=,"nc.lLE_Lsnc
otHEla!ae'' nput)nc0, **kwwwwwwwwwwwwwLsnc
oa.sa.scaone=sncnlosoPC#s.l= Fun)lums(r "\no"etioPCn
l11111oPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhlogr oasLsnc
oa.sa.1oPCE_HElayaelsssssS'uanhwritlLogoPCnssvvvvviify(luuit +;e1b#Eluuits ,C lqu oToti.Fshprs ag s(cneiqurC lLieyeinwwwwelsLen(= se)C!=  "et):nc.lseeidE_HE.=d{}To) ==, .....fPC_l "\nTho)ncnlori s.e PM("vas 

=,"nc.lLE_Lsnc
otHElayae"Oi
t('"1nc0, **kwwwwwwwwwwwwwE_HE[sssvdo"n.FTo].Lsnc
oa.sa.scaonotmpecnPas 

=,"nc.lLE_Len(E_HEPr==A1keyeinikeywordwordHEc"""nE_HE[E_HE.keyec)[0]]To) ==, .....CAncoPCE_HElayaelsssssret"""nE_HECnssv#Perhapc.lses(  .sa.sca.lrfun)lumssEluuldibeiencapculsced_co objl)le?Cnssv#  WeEhavlevarious  .sa.sca.lrfun)lums clsbaesretat_also holastheir mn srtexmax)middlen oastherthreleBrCnssv#  fourrfun)lumssEHEquirFmpedissnaussthem.PM("v3.) soPC#s.l= Fun)lumsASIGeh=
=,ox
=y) asanvasLis s):nc.lDFts.maussthe  .sa.sca.lrefs-.]"de basLi o_tetat_ "deFrsisrioPCnly) asanvasLis s):nc.l3.) soP(v) PM("vas 

=,"els  v < -15. 1bHEct ) 
=iTotalTiog....CAelsv >  15. 1bHEct ) 1=iTotalTiog....CAncoAHEct ) 1=i / (1=i +Ns,(Tt $texp(-v)seyeinikeyHEct )Ts,(Tt $ta mpu=map(a= thx), 'f'nPM("v3.) ACTPRIMEASIGeh=
=,oa= 
=[nlogTo].arsslon.Fr ==._d=inLc
=PCne_eailih[nlogTo].sLis s):nc.lHEcbe  = (a=  * (1=i -oa= 
) +lncnlCsigmoid_pri.F_offs)neyeinikeyHEct )THEcbe "nc.l3.) soPDTt vASIGeh=
=,ox
=y) asanvasLis s):nc.lOnly ethet o_tsrC arsly) asanvasLis s):nc.l3.) soP(v) PM("vas 

=,"els  v < -15. 1bHEct ) 
=iTotalTiog....CAelsv >  15. 1bHEct ) 1=iTotalTiog....CAncoAHEct ) 1=i / (1=i +Ns,(Tt $texp(-v)seyeinikeyHEct )T(a= (x) * (1=i -oa= (x)
) +lncnlCsigmoid_pri.F_offs)neyein#prr(rarerthrelefun)lumssEetat_ssnaussa symmetric sigmoid  .sa.sca.lrfun)lums idlstirC ntesthe_d,eCnssv#Tfahlmansuscs_co omArc"dePM("v3.) soPC#s.l= Fun)lumsFahlmaneh=
=,ox
=y) asanva3.) soP(v) PM("vas 

=,"els  v < -15. 1bHEct ) -0.5TotalTiog....CAelsv >  15. 1bHEct ) 0.5TotalTiog....CAncoAHEct ) 1=i / (1=i +Ns,(Tt $texp(-v)s -o0.5TotalTiogHEct )Ts,(Tt $ta mpu=map(a= thx), 'f'nPM("v3.) ACTPRIME_Fahlmaneh=
=,oa= 
=[nlogTo].HEc"""nncnlCsigmoid_pri.F_offs)n+0.25 -oa= *aHECnssv3.) soPDTt vFahlmaneh=
=,ox
=y) asanva3.) soP(v) PM("vas 

=,"els  v < -15. 1bHEct ) -0.5TotalTiog....CAelsv >  15. 1bHEct ) 0.5TotalTiog....CAncoAHEct ) 1=i / (1=i +Ns,(Tt $texp(-v)s -o0.5TotalTiogHEct )TncnlCACTPRIME_Fahlmaneoa= (x).))E%T eyein#prr(rarerthrelefun)lumssEetat_ssnaussa srlssssatireandd(  .sa.sca.lrfun)lumsPM("v3.) soPC#s.l= Fun)lumsTANHeh=
=,ox
=y) asanva3.) soP(v) PM("vas 

=,"els  v < -15. 1bHEct ) -1=iTotalTiog....CAelsv >  15. 1bHEct ) 1=iTotalTiog....CAncoAHEct ) 1=7159 * s,(Tt $ttanh(0.66666 * vseyeinikeyHEct )Ts,(Tt $ta mpu=map(a= thx), 'f'nPM("v3.) ACTPRIMETANHeh=
=,oa= 
=[nlogTo].HEc"""n1 -oa= *aHE +lncnlCsigmoid_pri.F_offs)neyein3.) soPDTt vTANHeh=
=,ox
=y) asanva#einia:x, 1/s,(Tt $tcosh(x)y) asanva#HEc"""n1/s,(Tt $tcosh(x) +lncnlCsigmoid_pri.F_offs)neyeinikey3.) soP(v) PM("vas 

=,"els  v < -15. 1bHEct ) -1=iTotalTiog....CAelsv >  15. 1bHEct ) 1=iTotalTiog....CAncoAHEct ) 1=7159 * s,(Tt $ttanh(0.66666 * vseyeinikeyHEct )TncnlCACTPRIMETANHea= (x)
eyein3.) uscTanhAoPC#s.l= Fun)lums(
= s):[nlogTo].sLis s):nc.lCi thr eAn
sisetheeto usc eAn
hHElrbolic t thrnt  .sa.sca.lrfun)lums 1r r dTori s.ely) asanvaM) "EbeurC lLi aft\nE dTori s.enhareabbomsadded.cnlogTo].sLis s):nc.lncnlosoPC#s.l= Fun)lumse=sncnlosoPC#s.l= Fun)lumsTANHs s):nc.lncnloACTPRIMEe=sncnloACTPRIMETANHs s):nc.lncnlosoPDTt ve=sncnlosoPDTt vTANHl11111oPC_l "\nTho)ncnl PM("vas 

=,"li s..mauT= s)n, li s..mauA.sa.scaone=s-1=7159,s-1=7159 PM("vas 

=,"li s..maxT= s)n, li s..maxA.sa.scaone=s1=7159,s1=7159eyein3.) uscFahlmanAoPC#s.l= Fun)lums(
= s):[nlogTo].sLis s):nc.lCi thr eAn
sisetheeto usc Fahlman'sn3.)ault  .sa.sca.lrfun)lums 1r r dTori s.ely) asanvaM) "EbeurC lLi aft\nE dTori s.enhareabbomsadded.cnlogTo].sLis s):nc.lncnlosoPC#s.l= Fun)lumse=sncnlosoPC#s.l= Fun)lumsFahlmans s):nc.lncnloACTPRIMEe=sncnloACTPRIME_Fahlmans s):nc.lncnlosoPDTt ve=sncnlosoPDTt vFahlmans s):nc.loPC_l "\nTho)ncnl PM("vas 

=,"li s..mauT= s)n, li s..mauA.sa.scaone=s-0.5, -0.5 PM("vas 

=,"li s..maxT= s)n, li s..maxA.sa.scaone=s0.5, 
=5Total#bioasther3.)ault  .sa.sca.lrfun)lums  oasi$t[relsced_fun)lumssTotalsoPC#s.l= Fun)lumse=ssoPC#s.l= Fun)lumsASIGTotalACTPRIMEe=sACTPRIMEASIGTotalsoPDTt ve=ssoPDTt vASIGCnssv#TbaIw'Limag sumss s):3.) baIw'Limch=
=,o**args
=[nlogTo].sLis s):nc.lC
=PCnesdeNErrl oaswed_frrlbaIwA  s ag sumsTefseailih[nlogTo].sLis s):nc.lHEcbe  = iify(lu=PCne_eaili(**args
s s):nc.lng.ncnlolear 
=ikeyeinikeywordncnloLu=PCne_wediseyeinikeyHEct )THEcbe "nc.l3.) deltaWPCt $c
= sToe,swed, m, doPCt $La.F,_wedLa.F,_w, n
=[nlogTo].sLis s):nc.le -olear 
=i rsces s):nc.lwed_- oPCt $deNErrldelta vl)lrrl(sloEl)eyeinikeym_- momlifumeyeinikey3oPCt $La.F_- previous 3oPCt $ vl)lrrl(sloEl)eyeinikeywedLa.F_- only u._d=inLquiIw'Lim; sast oPCt $deNErrldelta vl)lrreyeinikeyw_- oPCt $dvl)lrreyeinikey) -Tfan-in,),C lqu oTos.r l)lumss comnt  inL(luuits biat,ohio)[nlogTo].sLis s):nc.l#einia:=WEIGHThc.",=ws s):nc.lnhinikFa)lrrl= iify(mu / (1=i +Niify(mu
s s):nc.lng.ncnlosplitEpsil.l=[nlogTo].s= se /= fsoa)(n
s s):nc.lng.ncnlo_quiIw'Lim=[nlogTo].s= snextStep = n,(Tt $tzerosELE_H3oPCt $La.F), 'f'nPM("vvvvvvvvvoPC_iL.....EEEELE_H3oPCt $La.F)
 PM("vas 

=,")lsSe = wed[iToPM("vas 

=,")lsSd#;e3oPCt $La.F[iTPM("vas 

=,")lsSp = wedLa.F[iTPM("vas 

=,")lsS#einia:iify(muPM("vas 

=,")lsS#einia:"sloEls[ndd(To].%ls QP w=%s 3=%lss=%lsp=%lseps=%f 
= (s,_w, d, s,_pToe
nc0, **kwwwwwwwww#einia:tHEl(nextStep[iT), nextStep[iTPM("vas 

=,"nc.lLE_(do>  .0
=[nlogTo].s= selsSCALELE_(so>  .0
=[nlogTo].s= selsSCALE)lsS#einia:"CASE A1"[nlogTo].s= selsSCALE)lsSnextStep[iTo].nextStep[iTo+ (e * s
nc0, **kwwwwwwwwwCALELE_(so>P (nhinikFa)lrrl* p)
 PM("vas 

=,")lsSCALE)lsS#einia:"CASE B1"[nlogTo].s= selsSCALE)lsSnextStep[iTo].nextStep[iTo+ (iify(mu * d
nc0, **kwwwwwwwwwCALECAncoPCE_HElayaelsssssCALE)lsS#einia:"CASE C1"[nlogTo].s= selsSCALE)lsSnextStep[iTo].nextStep[iTo+ (d * s / (p -Ts)ntrtex.debbbbbSSSSCAels(d <  .0
=[nlogTo].s= selsSCALELE_(so<  .0
=[nlogTo].s= selsSCALE)lsS#einia:"CASE A2"[nlogTo].s= selsSCALE)lsSnextStep[iTo].nextStep[iTo+ (e * s
nc0, **kwwwwwwwwwCALELE_(so
    =s1:eyeinikeywordeinia:=WEIGHTS CHANGED"[nlogTo].s= selsncnlC(1== s)nco> 2:PM("vas 

=,")lsSe_fy(dsssladts)E%T w't,HEct )T(dw_c=uit, dw_su(PCCnssv3.) eNErrFun)lums(
= s,oh, a
=[nlogTo].arsslon.Fr ==.
=i r
hHElrbolic arctaneon.lse)eNErrlslCt $ly exaggerscesPM("vas 
the  .sual eNErrlnon-l(,earsy. s s):n F_- aohi j) "Eusc eAn
difdsvakce.aya CanvaF_- t= s)n)vl)lrreyeinikeya -oa= a.sca.lrvl)lrreyeinikeysLis s):nc.l3.) difdsvakce(v) PM("vas 

=,"els]""n.Fr  hHElrbolicRNErr=[nlogTo].s= selsS#els-0.1 < v < 0.11bHEct ) 
=iTotalTiog....elsS#CAncoPCE_HElayaelsssssret"""nv[nlogTo].s= seAncoPCE_HElayaelsssssels  v < -
=99999991bHEct ) -17=iTotalTiog....elsSCAelsv >  
=99999991bHEct )  17=iTotalTiog....elsSCAncoAHEct ) moTh.log( (1=i +Nv) / (1=i -Nv) 
nc0, **kwwwwwwwww#CAncoAHEct ) s,(Tt $ta ctanh(v).#lhalfretat_abov1s s):nc.lHEc"""nmap(difdsvakce, F_- aPCCnssv3.) ce_h.0=(
= s):[nlogTo].sLis s):nc.lI.0== s)ncsdeNErrlLu=PCnsca.l. CC culscesdeNErrloPC_di
t('s s):nc.lri s.en oasi.0== s)ncsdhidde_hlsnc
 eNErrlhi zeroh[nlogTo].sLis s):nc.lHEcbe  = 
=i; c=chu=  o 
; hital =uit = 
PM("vas 
oPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanha.sa.1:nc0, **kwwwwwwwwwLE_Lsnc
otHElayae'Oi
t(' )nc0, **kwwwwwwwwwnc.lri s..eNErro].i_fy(eNErrFun)lums(Lsnc
ot= s)n, li s..s#
= s.l= ) PM("vas 

=,")lsSSSSStital =uit +;eli s..ee(1s s):nc.lllllllllllllHEcbe  +=Ts,(Tt $tadd.reduce((Lsnc
ot= s)n -oli s..s#
= s.l= ) ** 2)s s):nc.lllllllllllllc=chu=  +=ds,(Tt $tadd.reduce(s,(Tt $tfabs(r "\not= s)n -oli s..s#
= s.l= ) , uin, o] ",PCE_HElaytrykeyeinikeywordntddi
N 

 = iys.ntddi
o"n.FNPredi
tAexceptkeyeinikeywordntddi
N 

 = "".#lprsbably IDLEs s):nc.lLE_ntddi
N 

 == ""oet):nc.lseeidLi.T]."\n"[nlogTo].s= spiniaeyeinikeywordnys.ntddi
oflusho)trtex.debCAncoet):nc.lseeidLir = iys.ntdin.readl(,e()s s):nc.lelsLE_HLir)e=o 
keyeinikeywordLi .T]."gis s):nc.lLE_Lir[0] == 'g )nc0, **kwwwwwncnloh., sa.sa.1 = 
PM("vas 
CAelsLir[0] == 'q )nc0, **kwwwwwnys.exit(1)Cnssv3.) dsssladC.r l)lumss(
= s,ohitl
 = "C.r l)lumss"n.To) ==, . rscColWidedssss= 8To) ==, .decimalst):nc.ls= 2To) ==, .colWidedssssc.ls= 7[nlogTo].pinia:hitl
 + ":is s):nc.lpinia:=-" * (LE_Hhitl
) +e1)PM("vas 
oPC_LTinLiify(lur l)lumss PM("vas 

=,"einia:=WPCt $t[(%s, %e)C1rLabLnas (%s, %e)Cto Lnas (%s, %e): 
= (PCE_HElayaelsssss["]""nfrozel","frozel"][chfrozelT,PCE_HElayaelsssss["]""na.sa.1","a.sa.1"][cha.sa.1T,PCE_HElayaelssssschfrocisnc
o"n.F, ["]""nfrozel","frozel"][chfrocisnc
ofrozelT,s["]""na.sa.1","a.sa.1"][chfrocisnc
oa.sa.1T,sPCE_HElayaelssssschtoisnc
o"n.F, ["]""nfrozel","frozel"][chtoisnc
ofrozelT,s["]""na.sa.1","a.sa.1"][chtoisnc
oa.sa.1] 
nc0, **kwwwww#Ctop ba
nc0, **kwwwwwl(,eT= ("=" *  rscColWided) +e"="nc0, **kwwwwwl(,eT+= ("=" * colWided) +e"="nc0, **kwwwwwoPC_iL.....EEEEchtoisnc
oee(1):PCE_HElayaelsssssS(,eT+= ("=" * colWided) +e"="nc0, **kwwwwweinia:s(,eCnssvaelswwww#Ctosri s.e]n.F:nc0, **kwwwwwl(,eT= " " *  rscColWided +e"|" +lpad(chtoisnc
o"n.F, (colWideds* (chtoisnc
oee(1 +e1)) +echtoisnc
oee(1,r dign="ce., s", 
nc0, **kwwwwweinia:s(,eCnssvaelswwww#Csep ba
:nc0, **kwwwwwl(,eT= (=-" *  rscColWided) +e"+"nc0, **kwwwwwl(,eT+= ("-" * colWided) +e"+"nc0, **kwwwwwoPC_iL.....EEEEchtoisnc
oee(1):PCE_HElayaelsssssS(,eT+= ("-" * colWided) +e"+"nc0, **kwwwwweinia:s(,eCnssvaelswwww#Ccol heads.)nc0, **kwwwwwl(,eT= pad(chfrocisnc
o"n.F,  rscColWided,r dign="ce., s")nc0, **kwwwwwl(,eT+= pad("biat", colWided,r dign="ce., s")nc0, **kwwwwwoPC_iL.....EEEEchtoisnc
oee(1):PCE_HElayaelsssssS(,eT+= pad(.tr(i), colWided,r dignT= "ce., s")nc0, **kwwwwweinia:s(,eCnssvaelswwww#Csep ba
:nc0, **kwwwwwl(,eT= (=-" *  rscColWided) +e"+"nc0, **kwwwwwl(,eT+= ("-" * colWided) +e"+"nc0, **kwwwwwoPC_iL.....EEEEchtoisnc
oee(1):PCE_HElayaelsssssS(,eT+= ("-" * colWided) +e"+"nc0, **kwwwwweinia:s(,eCnssvaelswwww#Cbiatet,ohisri s.)nc0, **kwwwwwl(,eT= pad("biat",  rscColWided,r dignT= "ce., s")nc0, **kwwwwwS(,eT+= (" " * colWided) +e"|"nc0, **kwwwwwoPC_jL.....EEEEchtoisnc
oee(1):PCE_HElayaelsssssS(,eT+= pad(("%." +lntr(decimals) +e"f")
= chtoisnc
oweCt $[j], colWided,r dignT= "rCt $")nc0, **kwwwwweinia:s(,eCnssvaelswwww#CoPCt $t:nc0, **kwwwwwoPC_iL.....EEEEchfrocisnc
oee(1):PCE_HElayaelsssssS(,eT= pad(.tr(i),  rscColWided,r dignT= "ce., s")nc0, **kwwwwwssssS(,eT+= pad(("%." +lntr(decimals) +e"f")
= chfrocisnc
oweCt $[iT, colWided,r dignT= "rCt $")nc0, **kwwwwwwwwwoPC_jL.....EEEEchtoisnc
oee(1):PCE_HElayaelsssssssssS(,eT+= pad(("%." +lntr(decimals) +e"f")
= chweCt $[iT[j], colWided,r dignT= "rCt $")nc0, **kwwwwwwwwweinia:s(,eCnssvaelswwww#CbottLabba
:nc0, **kwwwwwl(,eT= (==" *  rscColWided) +e"="nc0, **kwwwwwl(,eT+= ("=" * colWided) +e"="nc0, **kwwwwwoPC_iL.....EEEEchtoisnc
oee(1):PCE_HElayaelsssssS(,eT+= ("=" * colWided) +e"="nc0, **kwwwwweinia:s(,eCnssvaelswwwwwwwwCnssv3.) dssslado
= s):[nlogTo].sLis s):nc.lDssslads eAn
sisetheeto lse)screesh[nlogTo].sLis s):nc.leinia:=Dssslad
sisethee'" +lncnlCn 

s+w"':is s):nc.lee(1 =...EEEELE_HEithhri s.e))eyeinikeyee(1..e(1=se()PM("vas 
oPC_iL...ee(1:PM("vas 

=,"elsEithhri s.e[iTha.sa.1oPCE_HElayaelsssssEithhri s.e[iThdsssladts)E%T w't,as 

=,"elsEithhpoTssssLi atex.Fr  ri s.e[iThtHEla!ae'Hidde_':PCE_HElayaelssssssssst= s)nWord, difd = ion.Fs)nWord(x.Fr  ri s.e[iTht= s)n, HEct )Difd = 1s)E%T w't,as 

=,"
=,"elsEithhri s.e[iThkioasyae'Oi
t(' )nc0, **kwwwwwwwww
=,"
=,"elst= s)nWordsyaene,e)nc0, **kwwwwwwwww
=,"
=,"""""einia:= = s)n PoTssss ls= %s 
= "Ni moTch"[nlogTo].s= selsSCALE)lsSCAncoPCE_HElayaelsssssCALE)lsS
=,"elsdifd == 0.0oPCE_HElayaelsssssCALE)lsS
=,"""""einia:= = s)n PoTssss ls= Lnas; (exa= 
 
= t= s)nWordPCE_HElayaelsssssCALE)lsS
=,"CAncoPCE_HElayaelsssssCALE)lsS
=,"""""einia:= = s)n PoTssss ls= Lnas; MoTchhdifdsvakceo].%l
 
= (t= s)nWord, difds)E%T w't,as 

=,"
=,"a= Word, difd = ion.Fs)nWord(x.Fr  ri s.e[iTha.sa.scaon, HEct )Difd = 1 
nc0, **kwwwwwwwww
=,"els(Eithhri s.e[iThkioasyae'' nputrPC_s_fy(ri s.e[iThkioasyae'Oi
t(' loPCE_HElayaelsssssCALE)lsSif"a= Wordsyaene,e)nc0, **kwwwwwwwww
=,"
=,"""""einia:=MoTchnt  PoTssss = %s 
= "Ni moTch"[nlogTo].s= selsSCALE)lsSCAncoPCE_HElayaelsssssCALE)lsS
=,"elsdifd == 0.0oPCE_HElayaelsssssCALE)lsS
=,"""""einia:=MoTchnt  PoTssss = Lnas; (exa= 
 
= a= WordPCE_HElayaelsssssCALE)lsS
=,"CAncoPCE_HElayaelsssssCALE)lsS
=,"""""einia:=MoTchnt  PoTssss = Lnas; MoTchhdifdsvakceo].%l 
= (a= Word, difds)E%T w't,as 

=,"elsEithh(1== s)nco>=s1:eyeinikeywordddddddddoPCt $t[=...EEEELE_HEithhlur l)lumss)ntrtex.debbbbbSSSSSSSSoPCt $t..e(1=se()PM("vas 












oPC_jL...oPCt $t:nc0, **kwwwwww't,as 

=,"elsEithhlur l)lumss[j]htoisnc
o"n.Fr==As_fy(ri s.e[iTh"n.F PM("vas 

=,")lsSSSSSSSSSSSSSEithhlur l)lumss[j]hdsssladts)E%T w't,as 

=,"""""""""""""PM("v#_GA sup s)nCnssv3.) a mpuifdo
= s):[nlogTo].sLis s):nc.lR s):nc.a sr mpu oTo]"de biat middlen oasLE_ l)lumsToPCt $tPM("vas 
oPC_usc inL=_GAh[nlogTo].sLis s):nc.lge,eT= c]To) ==, . PC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhtHEla!ae'' nput PM("vas 

=,")lsSoPC_iL.....EEEELi s..ee(1):)E%T w't,as 

=,"""""ge,eusn)lsSCdlsnc
oweCt $[iT )PM("vas 
oPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"oPC_iL.....EEEEcur l)lumshfrocisnc
oee(1):)E%T w't,as 

=,"oPC_jL.....EEEEcur l)lumshtoisnc
oee(1):)E%T w't,as 

=,"""""ge,eusn)lsSCdlur l)lumshweCt $[iT[j] )trtex.debHEct )Tge,eCnssv3.) unA mpuifdo
= s,Tge,e):[nlogTo].sLis s):nc.lC
pilenge,eTbiat middlen oasoPCt $t[to sisetheebiat middlen oas s):nc.loPCt $t.[nlogTo].sLis s):nc.lg = 
PM("vas 
#dLE_ge,eTit[too sm dToa sIndexEr
o
 eedToberthrowns s):nc.loPC_l "\nTho)ncnlori s.e PM("vas 

=,"elsS'uanhtHEla!ae'' nput PM("vas 

=,")lsSoPC_iL.....EEEELi s..ee(1):)E%T w't,as 

=,"""""lsnc
oweCt $[iT = fsoa)(_ge,e[g]s)E%T w't,as 

=,"""""g +;e1PM("vas 
oPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,"oPC_iL.....EEEEcur l)lumshfrocisnc
oee(1):)E%T w't,as 

=,"oPC_jL.....EEEEcur l)lumshtoisnc
oee(1):)E%T w't,as 

=,"""""lur l)lumshweCt $[iT[j] =_ge,e[g])E%T w't,as 

=,"""""g +;e1PM("vas 
#dLE_ge,eTit[too lot  oP moyEhavlealprsblemeyeinikeyelsLE_Hge,e) > ikeyeinikeyword
snadoIndexEr
o
, ('Argumlifeto unA mpuifdTit[too lot .',sLE_Hge,e))CPM("v#_f2sa IOwCnssv3.) logMsgc
= sToest LNn.F, message):[nlogTo].sLis s):nc.lLogs asmessage osedsl "\nN 

slog.[nlogTo].sLis s):nc.l# eedTothrowoa sexceptumsTilsEitLogx]""nLC lLieyeinwwwwion.Fs)nt $tt(l "\nN 

).logMsgcmessage)Cnssv3.) logt $tt(
= sToest LNn.F, f2saNn.F
=[nlogTo].sLi[nlogTo].S)nseLt
dl "\nNn.F's log feact e.cnlogTo].sLis s):nc.lncnlos)nt $tt(l "\nN 

).EitLog(f2saNn.F
Cnssv3.) closeLog(
= sToest LNn.F):[nlogTo].sLis s):nc.lCloseeLt
dl "\nNn.F's log f2sa.cnlogTo].sLis s):nc.lncnlos)nt $tt(l "\nN 

).closeLog(
Cnssv3.) savlWPCt $tToFil(ih=
=,of2sa"n.F, m"de ae'pickle',Eluuits.T].ne,e
=[nlogTo].sLi[nlogTo].SavlssoPCt $t[to f2sa ho)pickle, slain,)rrlhlear  m"de.[nlogTo].sLis s):nc.l# m"des:)pickle/lurx, slain,)hlear eyeinikeyels"?"Tho)f2sa"n.F:s#ireslaceo? poTssssTho)f2sa"n.F osedsepochh,C lquPM("vas 

=,"em s)nirePM("vas 

=,"Li .T]."?"[nlogTo].s= smoTchh=dre.Eiarch(re.escape(li r) +e"+",of2sa"n.F)eyeinikeywordLE_moTch:)E%T w't,as 

=,"nu(hc.s_fy(epoch)E%T w't,as 

=,"elsluuits.T!aene,e)nc0, **kwwwwwwwww
=,"nu(hc.luuits.nc0, **kwwwwwwwwwCAelsslsSCtotalEpochh!=  "s#iusc ahhital epoch,"else,e)nc0, **kwwwwwwwww
=,"nu(hc.slsSCtotalEpoch)E%T w't,as 

=,"o.trnt  ]."%%0%dd 
= LE_HmoTch.group()ntrtex.debbbbbSSSSf2sa"n.F =Sf2sa"n.F[:moTch..E_HE()]o+oRNPredi
tAuto,	\NNNNNNNNNNNNNo.trnt  %.s_fy(epocho+oRNPredi
tAuto,	\NNNNNNNNNNNNNo2sa"n.F[moTch.lsSC):])E%T w't,as 

=,"ncnloristAutoSavlWPCt $tF2sa"n.F =Sf2sa"n.Feyeinikeyelsm"de aae'pickle')nc0, **kwwwwwmys(ste=sncnlos mpuifdo)PM("vas 

=,"em s)nipicklePM("vas 

=,"op = o)ls(f2sa"n.F, "w")nc0, **kwwwwweickle.dump(mys(st,ofp)nc0, **kwwwwwop.closeo)trtex.debCAelsm"de ho)['slain',E'lurx']:PM("vas 

=,"op = o)ls(f2sa"n.F, "w")nc0, **kwwwwwop.writl("# Biatet\n")nc0, **kwwwwwoPC_l "\nTho)ncnlori s.e PM("vas 

=,"ikeyelsS'uanhtHEla!ae'' nput PM("vas 

=,")lsSwwwwop.writl("# t $tt: " +lr "\non 

s+w"\n")nc0, **kwwwww**kwwwwwoPC_iL.....EEEELi s..ee(1):)E%T w't,as 

=,"""""wwwwop.writl("%ls"
= Lsnc
oweCt $[iT )PM("vas 

=,"""""wwwwop.writl("\n")nc0, **kwwwwwop.writl("# WPCt $t\n")nc0, **kwwwwwoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSop.writl("# 1rLab" +lcur l)lumshfrocisnc
on 

s+w"[to " +NPredi
tAuto,	\NNNNNNNNNNNlur l)lumshtoisnc
o"n.Fr+w"\n")nc0, **kwwwww**kwoPC_iL.....EEEEcur l)lumshfrocisnc
oee(1):)E%T w't,as 

=,"**kwoPC_jL.....EEEEcur l)lumshtoisnc
oee(1):)E%T w't,as 

=,""""")lsSop.writl("%ls"
= lur l)lumshweCt $[iT[j] )trtex.deb
=,""""")lsSop.writl("\n")nc0, **kwwwwwop.closeo)trtex.debCAelsm"de aae'hlear ':PM("vas 

=,"op = o)ls(f2sa"n.F, "w")nc0, **kwwwwwop.writl("NETWORK CONFIGURED BY TLEARN\n")nc0, **kwwwwwop.writl("# oPCt $t[aft\nE%d sweepc\n" %.s_fy(epoch)nc0, **kwwwwwop.writl("# WEIGHTS\n")nc0, **kwwwwwcit = 1nc0, **kwwwwwoPC_lto ho)ncnlori s.e PM("vas 

=,"ikeyelsStohtHEla!ae'' nput PM("vas 

=,")lsSwwwwoPC_jL.....EEEEStohee(1):)E%T w't,as 

=,""""")lsSop.writl("# TO NODEE%d\n" %.cn$ntrtex.debbbbbSSSSSSSS)lsSop.writl("%f\n" %.StohweCt $[j] )trtex.deb
=,""""")lsSwwwwoPC_l1rLabho)ncnlori s.e PM("vas 

=,"ikeyyyyyyyyyyyyytrykeyeinikeywordddddddddddddddddddddLE_ l)lumsT= ion.Fs)nC.r l)lums(l1rLao"n.F,Stoh"n.F)eyeinikeyword.deb
=,""""")lsSwwwwoPC_iL.....EEEEcur l)lumshfrocisnc
oee(1):)E%T w't,as 

=,"**kw
=,""""")lsSwwwwop.writl("%f\n" %.lur l)lumshweCt $[iT[j])eyeinikeyword.deb
=,""""")lsSexcept NisetheRNErr=w#CshuuldiHEct )Ta sexceptumsTprr(eyeinikeyword.deb
=,""""")lsSwwwwoPC_iL.....EEEEl1rLaoee(1):)E%T w't,as 

=,"**kw
=,""""")lsSwwwwop.writl("%f\n" %. .0
)E%T w't,as 

=,"**kw
=,"cit +;e1nc0, **kwwwwwop.closeo)c0, **kwwwwwtrtex.debCAncoet):nc.lseeidrsnadoViddlEr
o
, ('Unknownsm"de ho)savlWPCt $tToFil(i).',sm"de)Cnssv3.) loadWPCt $tFrLaFil(ih=
=,of2sa"n.F, m"de ae'pickle'):[nlogTo].sLis s):nc.lLoadssoPCt $t[1rLaba f2sa ho)pickle, slain,)rrlhlear  m"de.[nlogTo].sLis s):nc.l# m"des:)pickle, slain/lurx, hlear eyeinikeyelsm"de aae'pickle')nc0, **kwwwwwem s)nipicklePM("vas 

=,"op = o)ls(f2sa"n.F, "s")nc0, **kwwwwwmys(ste=seickle.load(fp)nc0, **kwwwwwop.closeo)trtex.debbbbbion.FunA mpuifdomys(st)trtex.debCAelsm"de ho)['slain',E'lurx']:PM("vas 

=,"s mT= c]To) ==, .
=,"op = o)ls(f2sa"n.F, "s")nc0, **kwwwwws(,et[=.op.readl(,es()nc0, **kwwwwwoPC_l(,eTinLs(,es:PCE_HElayaelsssssS(,eT= S(,e..trnpts)E%T w't,as 

=,"elsS(,eT=ae'trPC_S(,e[0] == '#t PM("vas 

=,")lsSwwwwpassPM("vas 

=,")lsSCAncoPCE_HElayaelsssssCALEdata =smap("fsoa), S(,e..plit()ntrtex.debbbbbSSSS
=,"s m.extlsSCddata )trtex.debbbbbion.FunA mpuifdo"s mT)nc0, **kwwwwwop.closeo)trtex.debCAelsm"de aae'hlear ':PM("vas 

=,"op = o)ls(f2sa"n.F, "s")nc0, **kwwwwwop.readl(,e()l# NETWORK CONFIGURED BYnc0, **kwwwwwop.readl(,e()l# # oPCt $t[aft\nE%d sweepcnc0, **kwwwwwop.readl(,e()l# # WEIGHTSnc0, **kwwwwwcit = 1nc0, **kwwwwwoPC_lto ho)ncnlori s.e PM("vas 

=,"ikeyelsStohtHEla!ae'' nput PM("vas 

=,")lsSwwwwoPC_jL.....EEEEStohee(1):)E%T w't,as 

=,""""")lsSop.readl(,e()l# TO NODEE%d)E%T w't,as 

=,""""")lsSStohweCt $[j] = fsoa)(op.readl(,e())trtex.deb
=,""""")lsSwwwwoPC_l1rLabho)ncnlori s.e PM("vas 

=,"ikeyyyyyyyyyyyyytrykeyeinikeywordddddddddddddddddddddLE_ l)lumsT= ion.Fs)nC.r l)lums(l1rLao"n.F, Stoh"n.F)eyeinikeyword.deb
=,""""")lsSwwwwoPC_iL.....EEEEcur l)lumshfrocisnc
oee(1):)E%T w't,as 

=,"**kw
=,""""")lsSwwwwlur l)lumshweCt $[iT[j] =_fsoa)(_op.readl(,e()l)eyeinikeyword.deb
=,""""")lsSexcept NisetheRNErr=eyeinikeyword.deb
=,""""")lsSwwwwoPC_iL.....EEEEl1rLaoee(1):)E%T w't,as 

=,"**kw
=,""""")lsSwwww# 
=iTotalTiog....elsS.deb
=,""""")lsSwwwwop.readl(,e()s s):nc.lllllllllllllllllcit +;e1nc0, **kwwwwwop.closeo)c0, **kwwwwwtrtex.debCAelsm"de aae'nbencht PM("vas 

=,"#ireadssoPCt $t[ oasLE_.tructs sisetheTo) ==, .
=,"op = o)ls(f2sa"n.F, "s")nc0, **kwwwwws(,e[=.op.readl(,e()s s):nc.lllllwh2sa S(,e[:8]a!ae"NioPCns:"1nc0, **kwwwwwwwwws(,e[=.op.readl(,e()s s):nc.lllllitxtToinPCnt,ohtxtTohital,aotxtTodi
t('sT= S(,e..plit()s s):nc.lllllinPCnt,ohital,aoi
t('sT= intiioPCns), intihital), intioi
t('s
nc0, **kwwwww#Ccasco.'s hital middleiseLt
dbiat +rioPCns +dhidde_cnc0, **kwwwwwhidde_c = hital -rioPCns -e1nc0, **kwwwww#CcreateeLt
dl "\ne PM("vas 

=,"ncnltaddt $tt("ioPCn"ToinPCns)nc0, **kwwwwwoPC_iL.....EEEEhidde_c
 PM("vas 

=,")lsSecnltaddt $tt("hidde_%d 
= i, 1s)E%T w't,as 
ecnltaddt $tt("di
t('",aoi
t('s
nc0, **kwwwww#CcE_ l)lL..t('tto  dTohidde_c,aoi
t(' PM("vas 

=,"oPC_iL.....EEEEhidde_c
 PM("vas 

=,")lsSecnltcE_ l)l("ioPCn"To"hidde_%d 
= is)E%T w't,as 
ecnltcE_ l)l("ioPCn"To"di
t('"
nc0, **kwwwww#CcE_ l)lL dTohidde_ctto  dTolscerohidde_c PM("vas 

=,"oPC_iL.....EEEEhidde_c -e1):)E%T w't,as 

=,"oPC_jL.....EEEEi +e1, hidde_c
 PM("vas 

=,")lsSSSSSelsja!aei:)E%T w't,as 

=,"**kw
=,"ecnltcE_ l)l("hidde_%d 
= i, "hidde_%d 
= j 
nc0, **kwwwww#CcE_ l)lL dTohidde_ctto oi
t('s PM("vas 

=,"oPC_iL.....EEEEhidde_c
 PM("vas 

=,")lsSecnltcE_ l)l("hidde_%d 
= i, "di
t('"
nc0, **kwwwww#Cnow,sLEt'ses)n.lse)oPCt $t PM("vas 

=,"oPC_di
c=uit .....EEEEoi
t('s
 PM("vas 

=,")lsSwh2sa S(,e[:9]a!ae"# Oi
t(':"1nc0, **kwwwwwwwwwwwwws(,e[=.op.readl(,e()s s):nc.lllllwwwws(,e[=.op.readl(,e()w#C$s s):nc.lllllwwwws(,e[=.op.readl(,e()w#Cbiat,o..t('tto oi
t(', hidde_tto oi
t('?s s):nc.lllllwwwwdata =s""[nlogTo].s= selsSwh2sa S(,er oasL(,e[0] !ae"#"1nc0, **kwwwwwwwwwwwwwEata += " " + S(,e..trnpts)E%T w't,as 

=,"wwwws(,e[=.op.readl(,e()s s):nc.lllllwwwwoPCt $t[=.map(fsoa), Eata..plit()ntrtex.debbbbbSSSSecnl["di
t('"]hweCt $[di
c=uit] =_oPCt $t[0] #Cbiattrtex.debbbbbSSSSnexn=P 1et):nc.lseeidddddoPC_iL.....EEEEecnl["ioPCn"]oee(1):)E%T w't,as 

=,"**kwecnl["ioPCn", "di
t('"]hweCt $[iT[di
c=uit] =_oPCt $t[nexn])E%T w't,as 

=,"""""nexn=+;e1nc0, **kwwwwwddddoPC_hL.....EEEEhidde_c
 PM("vas 

=,")lsSddddoPC_iL.....EEEEecnl["hidde_%d 
= h].ee(1):s#"norm dTy j) "E1nc0, **kwwwwwdddd
=,"**kwecnl["hidde_%d 
= h, "di
t('"]hweCt $[iT[di
c=uit] =_oPCt $t[nexn])E%T w't,as 

=,"""""""""nexn=+;e1nc0, **kwwwww#Cnow,sfPC_Eachhhidde_t=lsnc
"1nc0, **kwwwwwwh2sa S(,er oasL(,e[0] !ae"$"1nc0, **kwwwwwwwwws(,e[=.op.readl(,e()s s):nc.llllls(,e[=.op.readl(,e()s s):nc.llllloPC_hidc=uit .....EEEEhidde_c
 PM("vas 

=,")lsSoPCt $t[=.[])E%T w't,as 

=,"wh2sa S(,er oasL(,e[0] !ae"$"r oasL(,e[0] !ae"#"1w#Cnexn=l(,eTis asoPCt $ds(,eCnssvaelswwwwwwww)lsSoPCt $t.extlsSCdmap(fsoa), S(,e..plit()n)w#Cbiat,o..t('tto hidde_, hidde_tto hidde_?s s):nc.lllllwwwwlllls(,e[=.op.readl(,e()sPCE_HElayaelsssssecnl[("hidde_%d 
= hidc=uit)]hweCt $[0] =_oPCt $t[0] #Cbiat firs Cnssvvvvvvvvv....nexn=P 1et):nc.lseeidddddoPC_iL.....EEEEecnl["ioPCn"]oee(1):)E%T w't,as 

=,"**kwoPC_jL.....EEEEecnl["hidde_%d 
= hidc=uit].ee(1):s#"norm dTy j) "E1nc0, **kwwwwwdddd
=,"**kwecnl["ioPCn", ("hidde_%d 
= hidc=uit)]hweCt $[iT[j] =_oPCt $t[nexn])E%T w't,as 

=,"""""""""nexn=+;e1nc0, **kwwwww**kwoPC_hL.....EEEEhidc=uit):s#"adTothoseehidsoleadnt  upeto lsis_d,eCnssvt):nc.lseeidddddoPC_iL.....EEEEecnl["hidde_%d 
= h].ee(1):s#"norm dTy j) "E1nc0, **kwwwwwdddd
=,"**kwoPC_jL.....EEEEecnl["hidde_%d 
= hidc=uit].ee(1):s#"norm dTy j) "E1nc0, **kwwwwwdddd
=,"**kw**kwecnl[("hidde_%d 
= h), ("hidde_%d 
= hidc=uit)]hweCt $[iT[j] =_oPCt $t[nexn])E%T w't,as 

=,"""""""""""""nexn=+;e1nc0, **kwwwww**kws(,e[=.op.readl(,e()w#C$s s):nc.lllllwwwws(,e[=.op.readl(,e()w#Cbegin nt  ofToPCt $tPM("vas 
CAncoet):nc.lseeidrsnadoViddlEr
o
, ('Unknownsm"de ho)loadWPCt $tFrLaFil(i)',sm"de)Cnssv3.) savlNisetheToFil(ih=
=,of2sa"n.F, makeWrsn)lmT= 1, m"de ae"eickle",Eluuits.T].ne,e
=[nlogTo].sLi[nlogTo].Savlsssisetheeto f2sa u.
=i eickle.[nlogTo].sLi[nlogTo].els"?"Tho)f2sa"n.F:s#ireslaceo? poTssssTho)f2sa"n.F osedsepochh,C lquPM("vas 

=,"em s)nirePM("vas 

=,"Li .T]."?"[nlogTo].s= smoTchh=dre.Eiarch(re.escape(li r) +e"+",of2sa"n.F)eyeinikeywordLE_moTch:)E%T w't,as 

=,"nu(hc.s_fy(epoch)E%T w't,as 

=,"elsluuits.T!aene,e)nc0, **kwwwwwwwww
=,"nu(hc.luuits.nc0, **kwwwwwwwwwCAelsslsSCtotalEpochh!=  "s#iusc ahhital epoch,"else,e)nc0, **kwwwwwwwww
=,"nu(hc.slsSCtotalEpoch)E%T w't,as 

=,"o.trnt  ]."%%0%dd 
= LE_HmoTch.group()ntrtex.debbbbbSSSSf2sa"n.F =Sf2sa"n.F[:moTch..E_HE()]o+oRNPredi
tAuto,	\NNNNNNNNNNNNNo.trnt  %.nu(h+oRNPredi
tAuto,	\NNNNNNNNNNNNNo2sa"n.F[moTch.lsSC):])E%T w't,as 

=,"ncnloristAutoSavlNisetheF2sa"n.F =Sf2sa"n.Feyeinikeyelsm"de aae"eickle" PM("vas 

=,"#idumpssisetheevia eickle)nc0, **kwwwwwem s)nipicklePM("vas 

=,"basa"n.F =Sf2sa"n.F..plit('.')[0]s s):nc.lllllo2sa"n.F += ".eickle"To) ==, .
=,"op = o)ls(f2sa"n.F, 'w'nPM("vvvvvvvvveickle.dump(h=
=,ofp)nc0, **kwwwwwop.closeo)trtex.debbbbb#lmakc wrsn)lmTpythoo)f2sa PM("vas 

=,"elsmakeWrsn)lm PM("vas 

=,")lsSop = o)ls(basa"n.F + ".ey", "w")nc0, **kwwwwwwwwwop.writl("1rLabpyrobot.b
sn tcE_xwem s)ni*\n")nc0, **kwwwww**kwop.writl("em s)nipickle\n")nc0, **kwwwww**kwop.writl("op = o)ls(Lnas, 'r')\n" %.f2sa"n.F)eyeinikeyword**kwop.writl("sisethee=seickle.load(fp)")nc0, **kwwwww**kwop.closeo)trtex.debbbbb#lga.1  a n helm=[nlogTo].s= seinia:= o)loadssisethe:"nc0, **kwwwwweinia:"www%%Tpythoo)-i %ss"
= (basa"n.F + ".ey")nc0, **kwwwwweinia:"www>>>ssisethe.t
sn ()w#CfPC_Example"To) ==, .
=,"pinia:=--- OR ---"nc0, **kwwwwweinia:"www%Tpythoo"nc0, **kwwwwweinia:"www>>>s1rLabpyrobot.b
sn tcE_xwem s)ni*"nc0, **kwwwwweinia:"www>>>ssisethee=sloadNisetheFrLaFil(i%s)" %.f2sa"n.Fnc0, **kwwwwweinia:"www>>>ssisethe.t
sn ()w#CfPC_Example"To) ==, .CAelsm"de ho)["slain", "cE_x"]:PM("vas 

=,"op = o)ls(f2sa"n.F, "w")nc0, **kwwwwwop.writl("sisethe, %e\n" %.HEithh__criss__h__"n.F__))s s):nc.llllloPC_l "\nTho)ncnlori s.e PM("vas 

=,"ikeyop.writl("ri s., %e, %e\n" %.Hr "\non 

,.Lsnc
oee(1)ntrtex.debbbbbSSSS#Cbiatet PM("vas 

=,")lsSoPC_iL.....EEEELi s..ee(1):)E%T w't,as 

=,"""""op.writl("%ls"
= Lsnc
oweCt $[iT)eyeinikeyword**kwop.writl("\n")nc0, **kwwwwwoPC_LE_ l)lumsTinLiify(lur l)lumss PM("vas 

=,")lsSop.writl("lur l)lums, %e, %e\n" %Ecur l)lumshfrocisnc
on 

,.lur l)lumshtoisnc
o"n.F))trtex.debbbbbSSSS#CoPCt $t:nc0, **kwwwwww't,oPC_iL.....EEEEcur l)lumshfrocisnc
oee(1):)E%T w't,as 

=,"**kwoPC_jL.....EEEEcur l)lumshtoisnc
oee(1):)E%T w't,as 

=,""""")lsSop.writl("%ls"
= lur l)lumshweCt $[iT[j])trtex.deb
=,""""")lsSop.writl("\n")nc0, **kwwwwwop.closeo)trtex3.) loadVl)lrrtFrLaFil(ih=
=,of2sa"n.F, colsT].ne,e, e(1=yNrowsT= 1,)E%T w't,as 

=,"""""""""""""dCAe(hc.' ',ElheckEvenT= 1, poTssssLi =  ):[nlogTo].sLis s):nc.lLoad as.)nrmfrvl)lrrt[1rLaba f2sa. Takcs aof2sa"n.F, s(steoTos.ltPM("vas 
you waia:(PC_ne,es1r r dT),is)nre(1=y e(1=yNrowsT(PC_1s1r rnoPCE_HElayskippnt ),i oasa"dCAe(esssh[nlogTo].sLis s):nc.lop = o)ls(f2sa"n.F, "s")nc0, **kws(,e[=.op.readl(,e()s s):nc.ll(,eno = 
PM("vas 
ristLengthT].ne,ePM("vas 
data =s[])E%T w't,wh2sa S(,e PM("vas 

=,"elsS(,eno % e(1=yNrowsT=o 
keyeinikeyword
=,"elspoTssssLi1nc0, **kwwwwwwwwwwwwws(,edata1 =s[xs1r rxTinLs(,e..trnpts..plit(dCAe()])E%T w't,as 

=,"CAncoPCE_HElayaelsssssCALEs(,edata1 =s[fsoa)(x)s1r rxTinLs(,e..trnpts..plit(dCAe()])E%T w't,as 
CAncoPCE_HElayaelsssssS(,eno +;e1nc0, **kwwwww**kws(,e[=.op.readl(,e()nc0, **kwwwww**kwlurtinuePM("vas 

=,"elscolsT]aene,e)s#is)nrem  dTs s):nc.lllllllllnewdata =ss(,edata1)E%T w't,as 
CAncos#ij) "Es)nr a n s.ltPM("vas 
llllllllnewdata =s[])E%T w't,as 

=,"oPC_iL...s.lt)nc0, **kwwwwwwwww
=,"newdatausn)lsSCdl(,edata1[iT )PM("vas 

=,"elsS'stLengthT]aene,erPC_(]""nLheckEven)rPC_(lheckEvenT oasLls(newdata)e=o S'stLength):)E%T w't,as 

=,"datausn)lsSCdnewdata ))E%T w't,as 
CAncoPCE_HElayaelsssssrsnado"DataForm nRNErr", ("s(,e[=.%d: 
= S(,eno,dnewdata)s s):nc.lllllsistLengthT].Lls(newdata)s s):nc.llllls(,eno +;e1nc0, **kwwwwws(,e[=.op.readl(,e()w idPM("vas 
op.closeo)trtex.debHEct )Tdatatrtex3.) load' npuPoTsssstFrLaFil(ih=
=,of2sa"n.F, colsT].ne,e, e(1=yNrowsT= 1,)E%T w't,as 

=,""""""""""""" 

=,"dCAe(hc.' ',ElheckEvenT= 1):[nlogTo].sLis s):nc.lLoadssioPCns asspoTsssst[1rLabf2sa.cnlogTo].sLis s):nc.lncnloioPCns =As_fy(roadVl)lrrtFrLaFil(if2sa"n.F, cols, e(1=yNrows,"dCAe(,ElheckEven, poTssssLi = 1s)E%T w't,s_fy(roadOrds.T].[0] *sLE_Hl"sSCinPCns)nc0, **kwoPC_iL.....EEEELE_Hl"sSCinPCns)):)E%T w't,as 
s_fy(roadOrds.[iT = itrtex3.) load' nputFrLaFil(ih=
=,of2sa"n.F, colsT].ne,e, e(1=yNrowsT= 1,)E%T w't,as 

=,""""""""""""dCAe(hc.' ',ElheckEvenT= 1):[nlogTo].sLis s):nc.lLoadssioPCns 1rLabf2sa. PoTssssnt  is losn.aya CanvasLis s):nc.lncnloioPCns =As_fy(roadVl)lrrtFrLaFil(if2sa"n.F, cols, e(1=yNrows,"dCAe(,ElheckEvens)E%T w't,s_fy(roadOrds.T].[0] *sLE_Hl"sSCinPCns)nc0, **kwoPC_iL.....EEEELE_Hl"sSCinPCns)):)E%T w't,as 
s_fy(roadOrds.[iT = itrtex3.) savl' nputToFil(ih=
=,of2sa"n.F
=[nlogTo].sLi[nlogTo].SavlssioPCns to f2sah[nlogTo].sLis s):nc.lop = o)ls(f2sa"n.F, 'w'nPM("vvvvvoPC_i.t('tinLiify(ioPCns:)E%T w't,as 
vl) =As_fy(reslacePoTsssstiioPCn)nc0, **kwwwwwoPC_iteabho)vl) PM("vas 

=,")lsSop.writl("%ls"
= itea)nc0, **kwwwwwop.writl("\n")nc0, 3.) load = s)neFrLaFil(ih=
=,of2sa"n.F, colsT].ne,e, e(1=yNrowsT= 1,)E%T w't,as 

=,"""""""""""""dCAe(hc.' ',ElheckEvenT= 1):[nlogTo].sLis s):nc.lLoadsst= s)nse1rLabf2sa.cnlogTo].sLis s):nc.lncnlot= s)nse=As_fy(roadVl)lrrtFrLaFil(if2sa"n.F, cols, e(1=yNrows,)E%T w't,as 

=,""""""""""""" 

=,","""""""""""""dCAe(,ElheckEvens)E%T 3.) load = s)nPoTssssttFrLaFil(ih=
=,of2sa"n.F, colsT].ne,e, e(1=yNrowsT= 1,)E%T w't,as 

=,""""""""""""" 

=,"""dCAe(hc.' ',ElheckEvenT= 1):[nlogTo].sLis s):nc.lLoadsst= s)nseasspoTsssst[1rLabf2sa.cnlogTo].sLis s):nc.lncnlot= s)nse=As_fy(roadVl)lrrtFrLaFil(if2sa"n.F, cols, e(1=yNrows,)E%T w't,as 

=,""""""""""""" 

=,","""""""""""""dCAe(,ElheckEven, poTssssLi=1)Cnssv3.) savl = s)neToFil(ih=
=,of2sa"n.F
=[nlogTo].sLi[nlogTo].Savlsst= s)nseto f2sah[nlogTo].sLis s):nc.lop = o)ls(f2sa"n.F, 'w'nPM("vvvvvoPC_t= s)n inLiify(t= s)ns:)E%T w't,as 
vl) =As_fy(reslacePoTsssstit= s)n)nc0, **kwwwwwoPC_iteabho)vl) PM("vas 

=,")lsSop.writl("%ls"
= itea)nc0, **kwwwwwop.writl("\n")nc0, 3.) savlDataToFil(ih=
=,of2sa"n.F
=[nlogTo].sLi[nlogTo].Savlssdata it= s)ns/inPCns) to f2sah[nlogTo].sLis s):nc.lop = o)ls(f2sa"n.F, 'w'nPM("vvvvvoPC_iL.....EEEELE_Hl"sSCinPCns)):)E%T w't,as 
trykeyeinikeywordddddvl) =As_fy(reslacePoTsssstil"sSCinPCns[iT)eyeinikeyword**kwoPC_iteabho)vl) PM("vas 

=,")lsS)lsSop.writl("%ls"
= itea)nc0, **kwwwwwexceptkeyeinikeywordddddpassPM("vas 

=,"trykeyeinikeywordddddvl) =As_fy(reslacePoTsssstil"sSCt= s)ns[iT)eyeinikeyword**kwoPC_iteabho)vl) PM("vas 

=,")lsS)lsSop.writl("%ls"
= itea)nc0, **kwwwwwexceptkeyeinikeywordddddpassPM("vas 

=,"op.writl("\n")nc0, 3.) loadDataFrLaFil(ih=
=,of2sa"n.F, ocit = -1):[nlogTo].sLis s):nc.lLoadssdata it= s)ns/inPCns) 1rLabf2sa.cnlogTo].sLis s):nc.lelsecit == -1keyeinikeywordocit = intis_fy(ri s.e[LE_HEithhri s.e) -e1].ee(1)s s):nc.lop = o)ls(f2sa"n.F, 'r')nc0, **kws(,e[=.op.readl(,e()s s):nc.lncnlot= s)nse=A[])E%T w't,ncnloioPCns =A[])E%T w't,wh2sa S(,e PM("vas 

=,"data =smap(fsoa), S(,e..plit()ntrtex.debbbbbcit = LE_Hdata)s s):nc.lllllicit = cit -docit)E%T w't,as 
s_fy(ioPCnsusn)lsSCEithhpoTssssVl)lrrHdata[0:icit])ntrtex.debbbbbncnlot= s)nsusn)lsSCEithhpoTssssVl)lrrHdata[icit:])ntrtex.debbbbbs(,e[=.op.readl(,e()s s):nc.lncnloroadOrds.T].[0] *sLE_Hl"sSCinPCns)nc0, **kwoPC_iL.....EEEELE_Hl"sSCinPCns)):)E%T w't,as 
s_fy(roadOrds.[iT = it)E%T # poTssssnt nc0, 3.) lookupPoTssssih=
=,on 

,.Lsnc
):[nlogTo].sLi SeedLE_lsereTis asn 

/l "\nTpoTssssTcombo,dCAncbHEct )TeAn
sn.F poTssss..sLis s):nc.lels(n 

,.Lsnc
) inLiify(poTsssstoet):nc.lseeidrEct )Tiify(poTsssst[(n 

,.Lsnc
)])E%T w't,CAncoet):nc.lseeidret"""niify(poTsssst[nn.F]PM("v3.) reslacePoTsssstil"sS,rvl)lrr,"li s.T].ne,e
=[nlogTo].sLi[nlogTo].Reslaces poTssssLi ioPCns PC_t= s)ns osedsa= a.sca.lrvl)lrrt.[nlogTo].sLis s):nc.lels]""n.Fr  poTssssLi1dret"""nvl)lrreyeinikeyLE_lype(vl)lrr)e=o stroet):nc.lseeidret"""niify(reslacePoTsssstil"sSClookupPoTssssivl)lrr,"li s.),"li s.))E%T w't,CALE_lype(vl)lrr)e!= s(stoet):nc.lseeidret"""nvl)lrreyeinikey#Cshuuldibc ahvl)lrrlif oP mode htTprr(eyeinikeyvl) =Ac]To) ==, . PC_vbho)vl)trr=eyeinikeywordLE_lype(v)e=o stroet):nc.lseeideeidretval = iify(reslacePoTsssstil"sSClookupPoTssssiv,"li s.),"li s.))E%T w't,ikeywordLE_lype(retval)e=o S(stoet):nc.lseeidyeinikeyvl).extlsSCdretval ))E%T w't,ikeywordCAncoPCE_HElayaelsssssCALEvl).sn)lsSCdretval ))E%T w't,ikeyCAncoPCE_HElayaelsssssvl).sn)lsSCdv )trtex.debHEct )Tvl)PM("v3.) poTssssVl)lrrHl"sS,rvl)lrr
=[nlogTo].sLi[nlogTo].Reslaces vl)lrrlosedspoTsssst. UsLi oPC_loadnt  ioPCns PC[nlogTo].t= s)nse1rLaba f2sa rtex.tedTopres)rv
=i eoTsssst.[nlogTo].sLis s):nc.lels]""n.Fr  poTssssLi1dret"""nvl)lrreyeinikeyLE_lype(vl)lrr)e=o int=eyeinikeywordLE_ion.Fs)nWord(vl)lrr)e!= 't PM("vas 

=,")lsSret"""niify(s)nWord(vl)lrr))E%T w't,ikeyCAncoPCE_HElayaelsssssret"""nvl)lrreyeinikeyCALE_lype(vl)lrr)e==_fsoa)=eyeinikeywordLE_ion.Fs)nWord(vl)lrr)e!= 't PM("vas 

=,")lsSret"""niify(s)nWord(vl)lrr))E%T w't,ikeyCAncoPCE_HElayaelsssssret"""nvl)lrreyeinikeyCALE_lype(vl)lrr)e==_stroet):nc.lseeidret"""nvl)lrreyeinikeyCALE_lype(vl)lrr)e==_S(stoet):nc.lseeidLE_ion.Fs)nWord(vl)lrr)e!= 't PM("vas 

=,")lsSret"""niify(s)nWord(vl)lrr))E%T w't,#Cshuuldibc ahS(steyeinikeyvl) =Ac]To) ==, . PC_vbho)vl)trr=eyeinikeywordLE_iify(s)nWord(v)e!= 't PM("vas 

=,")lsSretval = iify(s)nWord(v)PCE_HElayaelsssssvl).sn)lsSCdretval ))E%T w't,ikeyCAncoPCE_HElayaelsssssretval = iify(poTssssVl)lrrHv)PCE_HElayaelsssssvl).sn)lsSCdretval )CE_HElayaelssssstrtex.debHEct )Tvl)PM("v3.) s)nPoTsssstHl"sS,reoTsssst
=[nlogTo].sLi[nlogTo].S)nsepoTsssst[to lse)di)lumsary = sumlif.
[nlogTo].Example:ssis.s)nPoTsssstH {"tom": [0, 
, 
, 1], "mary": [1, 
, 
, 0]} )
[nlogTo].S)nsesis.poTssssLi to 1n s as.ide-effl)lh[nlogTo].cnlogTo].sLis s):nc.lncnlopoTsssst[=epoTssssts s):nc.lncnlopoTssssLi = 1PM("v3.) s)nPoTssssHl"sS,rword):[nlogTo].sLis s):nc.lR s):nc.lse)poTssssTosedskeyTword.
[nlogTo].Example:ssis.s)nPoTssssH"tom")e=> [0, 
, 
, 1][nlogTo].cnlogTo].sLis s):nc.lelsEithhpoTsssss.has_key(word):[nlogTo]..debHEct )Tiify(poTsssst[word])E%T w't,CAncoet):nc.lseeidrsnadoViddlEr
o
, ('UnknownspoTssssTho)s)nPoTssssH).',sword)PM("v3.) s)nWord(l"sS,reoTssss, HEct )Difd =  ):[nlogTo].sLis s):nc.lR s):nc.lse)wordn ssociatLi osedspoTssss.
[nlogTo].Example:ssis.s)nWord([0, 
, 
, 1])e=> "tom"
[nlogTo].Tsis_ceeds Tnowrr s):nc.lse)closestspoTssssTbasadrms d(stakce.aya CanvasLis s):nc.lmi)Diste=s10000s s):nc.lclosests].ne,ePM("vas 
 PC_w inLiify(poTsssstoet):nc.lseeid#_TprrP moyEb1  a n poTsssst[ttat_arerscalars; oP don'tlEiarchet):nc.lseeid#_thoseein lsis_fun)lums=eyeinikeywordLE_lype(iify(poTsssst[w]) inL[int,"fsoa), Song]:wlurtinuePM("vas 

=,"elsLE_Hl"sSCpoTsssst[w]) == LE_HpoTssss):)E%T w't,as 

=,"diste=sreduce(imeralrrtadd,n[(a -db) ** 2
 PC_(a,b) inLzipHl"sSCpoTsssst[w],reoTssss )T)eyeinikeyword**kwelsdist == 0.0oPCE_HElayaelsssssCALEif HEct )Difd:)E%T w't,as 

=,""""")lsSHEct )Tw,sdist)E%T w't,as 

=,"""""CAncoPCE_HElayaelsssssCALE)lsSHEct )Tweyeinikeyword**kwelsdist  ncnlotolerskceoPCE_HElayaelsssssCALEHEct ) 
eyeinikeywordHEct ) 1nc0, **kwexceptkeyeinikeyword#  a n poTsssst[moyE]""nb1 vl)lrrteyeinikeywordtrykeyeinikeywordddddelsabs( v1 -dv2 ) > ncnlotolerskceoPCE_HElayaelsssssCALEHEct ) 
eyeinikeyword**kweAncoPCE_HElayaelsssssCALEHEct ) 1nc0, **kw**kwexceptkeyeinikeywordCALEHEct ) 
eyein3.) sh reWPCt $tih=
=,onisethe, S(stOfL "\nN 

PairsT].ne,e
=[nlogTo].sLi[nlogTo].Sh re oPCt $t[osedsandRrssisethe. C.r l)lumss s):nc.les brokenT ft\nEa...Edome(1 PC_Li threoToee(1. Li s.e m) "Ehavlelse)sn.Fnc0, **kwnn.Ft[ oasee(1sd1r rsh reasLE_ l)lumsssioCbothssisethes.
[nlogTo].Example:ssis.sh reWPCt $tidRrN)n, [["hidde_", "di
t('"]])
[nlogTo].Tsis_Example eedTotakc lse)oPCt $tnb1twee)TeAn
hidde_t oasBi
t('tli s.ePM("vas 
oTodRrN)n[ oaseh re Rm[osedssis. Also,eLt
dbiat middlenofPM("vas 
oRrN)n["di
t('"] eedTobersh reasosedssis["di
t('"]h
[nlogTo].Ils]" s(steis_ga.1s, eedToeh re all oPCt $t.[nlogTo].sLis s):nc.lelsS(stOfL "\nN 

PairsT]aene,e)nc0, **kwwwwwS(stOfL "\nN 

PairsT].c]To) ==, .
=,"oPC_LTinLiify(lur l)lumss PM("vas 

=,"wwwwS(stOfL "\nN 

Pairs.sn)lsSCd[chfrocisnc
o"n.F, chtoisnc
o"n.FT )PM("vas 
elsEithh(1== s)nco>s1:eyeinikeywordeinia:"eh rnt  oPCt $t:", Eithh"n.F, s(stOfL "\nN 

Pairs)E%T w't,#Cfirs ,Elheck to seedLE_lsis eedToethe:s s):nc.lc=uit = 
PM("vas 
 PC_(frocisnc
Nn.F, toisnc
N 

)TinLs(stOfL "\nN 

Pairs PM("vas 

=,"oPC_c1L.....EEEELE_Hl"sSClur l)lumss)nkeyeinikeywordddddelsl"sSClur l)lumss[c1]hfrocisnc
on 

s==_frocisnc
Nn.F[ oasRNPredi
tAuto,	\NNNNNNNNNl"sSClur l)lumss[c1]htoisnc
o"n.Fr==Atoisnc
N 

:)E%T w't,as 

=,"**kwoPC_c2L.....EEEELE_Hsisethe.lur l)lumss)nkeyeinikeywordddddwordddddelssisethe.lur l)lumss[c2]hfrocisnc
on 

s==_frocisnc
Nn.F[ oasRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNsisethe.lur l)lumss[c2]htoisnc
o"n.Fr==Atoisnc
N 

:)E%T w't,as 

=,"**kwwordddddelsHl"sSClur l)lumss[c1]hfrocisnc
oee(1 != sisethe.lur l)lumss[c2]hfrocisnc
oee(1) PC_RNPredi
tAuto,	\NNNNNNNNNNNNNNNNNHl"sSClur l)lumss[c1]htoisnc
oee(1 != sisethe.lur l)lumss[c2]htoisnc
oee(1):)E%T w't,as 

=,""""")lsSSSSSSSSSHsnadoAttributlEr
o
, "eh reSa nWPCt $t:"li s.Tee(1sddidE]""nmoTch"[nlogTo].s= selsSCALE)lsSSSSSc=uit +;e1nc0, **kwelsluuite!= sE_Hs(stOfL "\nN 

Pairs):[nlogTo]..debHsnadoAttributlEr
o
, "eh reSa nWPCt $t:"li s.Tnn.Ft[didE]""nmoTch"[nlogTo].# oe, nowrLEt'sesh re!s s):nc.lncnlosh reaWPCt $t[=.1nc0, **kwsisethe.sh reaWPCt $t[=.1nc0, **kw PC_(frocisnc
Nn.F, toisnc
N 

)TinLs(stOfL "\nN 

Pairs PM("vas 

=,"oPC_c1L.....EEEELE_Hl"sSClur l)lumss)nkeyeinikeywordddddelsl"sSClur l)lumss[c1]hfrocisnc
on 

s==_frocisnc
Nn.F[ oasRNPredi
tAuto,	\NNNNNNNNNl"sSClur l)lumss[c1]htoisnc
o"n.Fr==Atoisnc
N 

:)E%T w't,as 

=,"**kwoPC_c2L.....EEEELE_Hsisethe.lur l)lumss)nkeyeinikeywordddddwordddddelssisethe.lur l)lumss[c2]hfrocisnc
on 

s==_frocisnc
Nn.F[ oasRNPredi
tAuto,	\NNNNNNNNNNNNNNNNNsisethe.lur l)lumss[c2]htoisnc
o"n.Fr==Atoisnc
N 

:)E%T w't,as 

=,"**kNNNNNNNNNl"sSClur l)lumss[c1]hoPCt $d= sisethe.lur l)lumss[c2]hoPCt $nc0, **kw PC_(frocisnc
Nn.F, toisnc
N 

)TinLs(stOfL "\nN 

Pairs PM("vas 

=,"oPC_l1L.....EEEELE_Hl"sSCri s.e))keyeinikeywordddddelsl"sSCri s.e[L1]o"n.Fr==Atoisnc
N 

:)E%T w't,as 

=,"**kwoPC_l2L.....EEEELE_Hsisethe.ri s.e))keyeinikeywordddddwordddddelssisethe.ri s.e[L2]o"n.Fr==Atoisnc
N 

:)E%T w't,as 

=,"**kwNNNNNNNNl"sSCri s.e[L1]ooPCt $d= sisethe.ri s.e[L2]ooPCt $neyein3.) testGenerslizsca.lih=
=,oinc.T]..1, .E_HE = 
, .EopT= 1, ioPCnLi s.T]."ioPCn",)E%T w't,as 

=,"**kwNNNNNNNioPCns =A[
, 1], di
t('Li s.T]."di
t('",aoi
t('sT].ne,e, su(hc. ):[nlogTo].sLis s):nc.lsu(h- usc oPC_SigmaNisethes)E%T w't,FIXME: currentTy j) "Eethessosedse,erPi
t('tli s.[nlogTo].sLis s):nc.leinia:= estnt  Generslizsca.l:", Eithh"n.Fs s):nc.lretolulumsT= inti(.EopT- .E_HE) /oinc.)trtex.debHEcStrnt  ]."is s):nc.loPC_xL.....EEEEretolulums):[nlogTo]..debHowr=s""[nlogTo].s= selslum:)E%T w't,as 

=,"ee(1 =.1)E%T w't,as 
CAnco)E%T w't,as 

=,"ee(1 =.ecnl[di
t('Li s.].ee(1)E%T w't,as 

=,"oPC_iL.....EEEEee(1):)E%T w't,as 

=,"**kwoPC_yL.....EEEEretolulums):[nlogTo]..debnlogTo].s= se.t('t= (x/fsoa)(retolulums), y/fsoa)(retolulums))s s):nc.lllllllllllllllllretulnse=As_fy(propagate(e.t('t= ioPCn)nc0, **kwwwwwnlogTo].s= selslum:)E%T w't,as 

=,"llllllllllllretval = reduce(imeralrrtadd,necnl[di
t('Li s.].a= a.sca.l) /oecnl[di
t('Li s.].ee(1)E%T w't,as 

=,"""""""""CAncoPCE_HElayaelsssssCALE)lsS
=,"retval = retulns[i])E%T w't,as 

=,""""""""") =Aruuid(retval, 1s)E%T w't,as 
nlogTo].s= selsco>s0.95oPCE_HElayaelsssssCALE)lsS
=,") =A"#"[nlogTo].s= selsSCALE)lsSCAelsco< 0.05oPCE_HElayaelsssssCALE)lsS
=,") =A"."[nlogTo].s= selsSCALE)lsSCAncoPCE_HElayaelsssssCALE)lsS
=,") =Astr(c * 10)[0]s s):nc.lllllllllllllllllHowr+= "%s 
= cPCE_HElayaelsssssCALEHowr+= "ALE"[nlogTo].s= selsSHEcStrnt  +=EHowr+w"\n"trtex.debHEct ) HEcStrnt eyein# ---------------------------------------oNisethe Primerties)E%T maxR.Edom[=eprimerty(getMaxR.Edom,nectMaxR.Edoms)E%T (1== s)nco=eprimerty(getV1== s)nc,nectV1== s)ncs)E%T quickprimo=eprimerty(getQuickprim,nectQuickprim)

criss_SigmaNisethe(Nisethe):[nlogsLis s):UsFt[CRBP[to l
sn ea)populsca.lrencodedslummsca.lr.lr.i
t('tli s.e. [nlogsLis s):3.) __init__ih=
=,on 

hc.'SigmaoNisethe', (1== s)nco=e ):[nlogTo].Nisethe.__init__ih=
=,on 

, (1== s)nc)s s):nc.lncnlotimet[=.0s s):nc.lncnlodi
t('Li s.sT].ne,es s):nc.lncnlosigmaCorrecE = 
 s):nc.ls s):3.) initislizeo
= s):[nlogTo].Nisethe.initislizeo
= s)s s):nc.lncnlosigmaCorrecE = 
 s):nc.ls s):3.) preSweepo
= s):[nlogTo].ncnlosigmaCorrecE = 
s s):3.) preBackprimih=
=,o**di)l):[nlogTo].#CcEuldiusc ahprsbabis(stic (1=sa.lr.fAruuid:[nlogTo].#C3.) prob(v):dHEct ) inti..Edom...Edom()o< v)PCE_HElay3.) myruuid(v):[nlogTo]..debHEcval = ruuid(v)eyeinikeywordHEct ) HEcvalPCE_HElay3.) mutate(v, p) PM("vas 

=,"oPC_iL.....EEEEinti.uuid(sE_Hv) * p)))keyeinikeywordddddgT= intisE_Hv) * ..Edom...Edom()ntrtex.debbbbbSSSSeymbolsT].[0.0,)E%T w't,as 

=,"**kwNNNNNNN1.0]s s):nc.lllllllllv[g]s].eymbols[(eymbols.index(v[g]) +e1)
= 2]eyeinikeywordHEct ) vs s):nc.loPC_n 

hin)di)l)nc0, **kwwwwwSi s.T].ecnl[nn.F]PM("vvvvvvvvvelsS'uanhkioasyae"Oi
t('"1nc0, **kwwwwwwwwwvl)lrrl=smap(myruuid,.ecnl[nn.F].a= a.sca.l)trtex.debbbbbSSSSecor
hc.abs(lum(vl)lrr)/fsoa)(ecnl[nn.F].ee(1) -)di)l[nn.F][0T)eyeinikeyword**kwelsecor
h> ncnlotolerskceoPCE_HElayaelsssssCALEvl)lrrl=smutate(vl)lrr,"ecor
))E%T w't,ikeywordCAncoPCE_HElayaelsssssCALEncnlosigmaCorrecE +;e1nc0, **kwwwww**kwdi)l[nn.F]s].vl)lrreyeinnnnnHEct )Tdi)leyein3.) doWhil(ih=
=,o*args):[nlogTo].elsl"sSCdi
t('Li s.sT]aene,e)nc0, **kwwwwwncnlodi
t('Li s.sT].
eyeinikeyword1r rl "\nTho)ncnlori s.e PM("vas 

=,"ikeyelsS'uanhkioasyae"Oi
t('"1nc0, **kwwwwwwwwwwwwwncnlodi
t('Li s.sT+=sLE_Hl"sSCinPCns)nc0, **kwHEct )Tiify(sigmaCorrecE !=wncnlodi
t('Li s.s

criss_SRN(Nisethe):[nlogsLis s):A subcriss_.fANisethe._SRN allowsT1r rsimple recu=savn
sisethes bys s):copynt  hidde_t = a.sca.ls back to awlurtexn=l'uanh.Tsis_subcrisss s):addsesup s)nT1r rsequencnt , predi)lums,[ oasLE_texn=l'uant.[nlogsLis s):#sLE_.tructrreyein3.) __init__ih=
=,on 

hc."Simple RecurrentANisethe", (1== s)nco=e ):[nlogTo].sLis s):nc.lC
_.tructrr oPC_SRN sub-criss._Sup s)nT1r rsequencFt[ oaspredi)lums:added.[nlogTo].sLis s):nc.lNisethe.__init__ih=
=,on 

d= s 

, (1== s)ncs].vl== s)nc)s s):nc.lncnlosequencFTHElaaene,er# You wedToneLi to s)n.lsis!s s):nc.l# ItCshuuldibc e,erPC_Lt
doRr:[nlogTo].#CncnlosequencFTHElaae"ords.ed-lurtinuous"ALE s s):nc.lncnloords.edIoPCns =A1wwwwwwwwwwws s):nc.lncnloinitCE_texn== 
 s):nc.lwwwwws s):nc.l#CncnlosequencFTHElaae"..Edom-segmlifed":[nlogTo].#Cncnloords.edIoPCns =A0[nlogTo].#CncnloinitCE_texn== 1s s):nc.l#CncnlosequencFTHElaae"..Edom-lurtinuous":[nlogTo].#Cncnloords.edIoPCns =A0[nlogTo].#CncnloinitCE_texn== 0[nlogTo].#CncnlosequencFTHElaae"ords.ed-segmlifed":[nlogTo].#Cncnloords.edIoPCns =A1s s):nc.l#CncnloinitCE_texn== 1s s):nc.l#CORrsoplumss PM("vas 
ncnlorear Durnt SequencF== 1s s):nc.ll"sSClurtexnCopynt  = 1s s):nc.l#CIits.nal stufd:)E%T w't,s_fy(predi)lums:=A[])E%T w't,ncnlolurtexnLi s.sT].{}s#irecordsol "\nTredsvakceo oasassociatLi hidde_tli s.[nlog3.) s)nSequencFTHEl(l"sS,rviddl):[nlogTo].sLis s):nc.lYou m) "Es)n.lsis!.S)n htTto "epoch"rPC_"poTssss".[nlogTo].sLis s):nc.lelsmiddle=ae"ords.ed-lurtinuous")nc0, **kwwwwwncnlodrds.edIoPCns =A1wwwwwwwwwwws s):nc.lwwwwncnloinitCE_texn== 
 s):nc.lwwwwws s):nc.lCAelsmiddle=ae"..Edom-segmlifed":[nlogTo].wwwwncnlodrds.edIoPCns =A0s s):nc.lwwwwncnloinitCE_texn== 1s s):nc.lCAelsmiddle=ae"..Edom-lurtinuous")nc0, **kwwwwwncnlodrds.edIoPCns =A0s s):nc.lwwwwncnloinitCE_texn== 0s s):nc.lCAelsmiddle=ae"ords.ed-segmlifed":[nlogTo].wwwwncnlodrds.edIoPCns =A1s s):nc.lwwwwncnloinitCE_texn== 1s s):nc.lCAncoet):nc.lseeidrsnadoAttributlEr
o
, "inmididrsequencF_lype: Lnas 
= middls s):nc.lncnlosequencFTHElaaemiddls s):#Es)n. oass)n ceeds sT1r rattributlss s):3.) predi)lih=
=,oinNn.F, di
Nn.F):[nlogTo].sLis s):nc.lS)nsepredi)lums:b1twee)Tanse.t('t oasBi
t('tli s..cnlogTo].sLis s):nc.lncnlopredi)lums.sn)lsSC(inNn.F, di
Nn.F))[nlog3.) s)nInitCE_texn(l"sS,rviddl):[nlogTo].sLis s):nc.lCrearsLE_texn=l'uan:b1twee)TsequencFt.aya CanvasLis s):nc.lncnloioitCE_texn== middls s):3.) s)nLear Durnt SequencF(l"sS,rviddl):[nlogTo].sLis s):nc.lS)n ncnlorear Durnt SequencF.aya CanvasLis s):nc.lncnlorear Durnt SequencF== middlss s):#Eceeds sT1r rLE_.tructnt   oasmodifynt  SRN sisetheTo) =3.) addThreeLi s.sih=
=,oinc, hidc, di
c):[nlogTo].sLis s):nc.lCreatesea)threesLEvelssisetheeosedsawlurtexn=l'uanhaya CanvasLis s):nc.lncnloaddt $tt('e.t('',oinc)s s):nc.lncnloaddCurtexnLi s.('lurtexn', hidc, 'hidde_')s s):nc.lncnloaddLi s.('hidde_', hidc)s s):nc.lncnloaddLi s.('Bi
t('', di
c))E%T w't,ncnlolur l)l('e.t('',o'hidde_')s s):nc.lncnlolur l)l('lurtexn', 'hidde_')s s):nc.lncnlolur l)l('hidde_', 'Bi
t('')To) =3.) addSRNLi s.sih=
=,oinc, hidc, di
c):[nlogTo].sLis s):nc.lWrsns_SRN.addThreeLi s.si)T1r rLEmpoTibis(tyhaya CanvasLis s):nc.lncnloaddThreeLi s.siinc, hidc, di
c)To) =3.) addCurtexnLi s.(h=
=,on 

, ee(1, hidde_isnc
N 

='hidde_', vl== s)nc= ):[nlogTo].Si s.T].Li s.(n 

, ee(1)s s):nc.lncnloaddCurtexn(ri s., hidde_isnc
N 

, (1== s)nc)s s):3.) addCurtexn(
= sToest L, hidde_isnc
N 

hc.'hidde_', vl== s)nco=e ):[nlogTo].sLis s):nc.lAddsea)lurtexn=l'uanh.NecessaryTto keep,ncnlolurtexnLi s.sTdi)lumsary upeto date..cnlogTo].sLis s):nc.l#CbeLt\nE]""naddsLE_texn=l'uan:firs lelsu.
=i sweepi)Toseddi
smapIoPCns s):nc.lSRN.add(
= sToest L, vl== s)nc)s s):nc.lelsl"sSClurtexnLi s.s.has_key(hidde_isnc
N 

):[nlogTo]..debHsnadoKeyEr
o
, ('TsereTis alreadyTa)lurtexn=l'uann ssociatLi osedslsis hidde_tli s..',sRNPredi
tAuto,	\NNNNNNNNNNNNNNNhidde_isnc
N 

)s s):nc.lCAncoet):nc.lseeidl"sSClurtexnLi s.s[hidde_isnc
N 

]s].li s.[nlogTo].To].Si s.hkioasy 'Curtexn'ss s):#EnewEceeds sT1r rsweep, .Eep, propagates s):3.) copyHidde_ToCurtexn(
= s):[nlogTo].sLis s):nc.lUsFt[keyTto hde_tifyTeAn
hidde_tl'uann ssociatLi osedsEach[nlogTo].Si s.Ti)TeAn
ncnlolurtexnLi s.sTdi)lumsary..cnlogTo].sLis s):nc.loPC_iteabho)l"sSClurtexnLi s.s.iteasi)=eyeinikeywordLE_iify((1== s)nco>s2:leinia:'Hidde_tl'uan: ',Eiify(s)nLi s.(itea[0T).a= a.sca.leyeinikeywordLE_iify((1== s)nco>s2:leinia:'CE_texn=l'uan:b1for
hcopy: ',Eitea[1].a= a.sca.leyeinikeywordLtea[1].copyA= a.sca.ls(iify(s)nLi s.(itea[0T).a= a.sca.l)PM("vas 

=,"elsiify((1== s)nco>s2:leinia:'CE_texn=l'uan: ft\nEcopy: ',Eitea[1].a= a.sca.leyein3.) s)nCE_texn(l"sS,rviddlT]..5):[nlogTo].sLis s):nc.lCrearc.lse)cE_texn=l'uan:by s)ntnt  cE_texn=l'uan:to (3.)ault)rviddlT0.5..cnlogTo].sLis s):nc.loPC_cE_texn=ho)l"sSClurtexnLi s.s.middlei)=eyeinikeywordlurtexn.res)tFlags()w#Chidde_t = a.sca.ls havlealreadyTbee)TcopiLi ioeyeinikeywordlurtexn.s)tA= a.sca.ls(viddl)s s):3.) propagate(h=
=,o**args):[nlogTo].sLis s):nc.lSRN.propagate:lS)nseer
o
 flags[ oaspropagatet.aya CanvasLis s):nc.lHEct )TNisethe.propagate(h=
=,o**args)eyein3.) step(h=
=,o**args):[nlogTo].sLis s):nc.lSRN.step()PM("vas 
ExtlsSsssisetheestep_ceeds Tby automscac dTy copynt  hidde_[nlogTo].Si s.T = a.sca.ls to lse)lurtexn=l'uanhaya CanvasLis s):nc.lelsiify(sequencFTHElaaaene,e)nc0, **kwwwwwrsnadoAttributlEr
o
, """sequencFTHEla]""n.Ft!lUsFlSRN.s)nSequencFTHEl().sLis s):nc.l#Ctakc c re o) any paramsdoRr[ttan"li s.Tnn.Ft:[nlogTo].#Ctwo ways to crearsLE_texn:[nlogTo].#C1.loPCce htTto rCt $dnowrosedsarg initCE_texn== 1:[nlogTo].elsargs.has_key('initCE_texn')=eyeinikeywordLE_args['initCE_texn']:PM("vas 

=,"""""iify(senCE_texn()PM("vas 

=,"delTargs['initCE_texn'][nlogTo].#C2. havleinitCE_texn=bF_lrdls s):nc.lCAelsslsSCinitCE_texnoet):nc.lseeidl"sSCsenCE_texn()PM("vas 
#dLE_initCE_texn=is_dff,eLt
n oP  ssuma u.s.Tknowt[ttat,PM("vas 
#dso oP res)t lse)flags[ms:allsLE_texn=l'uant:[nlogTo].elsl"sSCinitCE_texn==o 
keyeinikeywordoPC_cE_texn=ho)l"sSClurtexnLi s.s.middlei)=eyeinikeywordddddlurtexn. = a.sca.lS)n = 1s s):nc.l#CreslaceoallspoTssssts s):nc.loPC_keyTn eargs=eyeinikeywordargs[key] = iify(reslacePoTsssstidargs[key],_keyT)PM("vas 
#dGelL dTooE_lsese.t('/Bi
t('tli s.Tnn.Ft:[nlogTo].e.t('BankNamet[=.[lsnc
o"n.Fr1r rl "\nTho)ncnlori s.eyelsS'uanhkioasyae'' nput][nlogTo].Bi
t('BankNamet[=.[lsnc
o"n.Fr1r rl "\nTho)ncnlori s.eyelsS'uanhkioasyae'Oi
t('t][nlogTo].e.t('BankSe(1sd=.[lsnc
oee(1 1r rl "\nTho)ncnlori s.eyelsS'uanhkioasyae'' nput][nlogTo].e.t('BankTotalSe(1 =.eum(e.t('BankSe(1s)[nlogTo].e.t('ArgSe(1sd=.[len(args[nn.F])loPC_n 

hin)e.t('BankNamet[elss 

hin)args][nlogTo].e.t('ArgTotalSe(1 =.eum(e.t('ArgSe(1s)s s):nc.lncquencFLengthT].e.t('ArgTotalSe(1 /.e.t('BankTotalSe(1[nlogTo].Sear nt  = ncnlorear i)gs s):nc.ltotalREcvalsd=.(0.0, 
, 
)w#Cer
o
, correcE,ohitals s):nc.ltotalPCorrecE = {}s s):nc.loPC_step_.....EEEEecquencFLength)=eyeinikeywordLE_iify((1== s)nco>=A1wr rsesSCinsss = a.coPCE_HElayaelssssspinia:=-----------------------------------Step_#", .Eep +e1PM("vas 

=,"dicE = {}s s):nc.l
=,"dicE.update(args)w#C...sase)lurtexn,)rrloRrteyeinikeyword#Cnow,so(1=writlse.t('t oasBi
t(',delssicessaryeyeinikeywordoPC_n 

hin)e.t('BankNamet PM("vas 

=,"ikeyelss 

hin)args1nc0, **kwwwwwwwwwwwwwpoTssssLengthT].ecnl[nn.F].ee(1nc0, **kwwwwwwwwwwwwwdffs)n = .Eep *wpoTssssLengthnc0, **kwwwwwwwwwwwwwelsHdffs)n +wpoTssssLength)o>=Alen(args[nn.F])oPCE_HElayaelsssssCALE)lsS#dLE_lsis ecqeiseLoo big,iusc sist partoPCE_HElayaelsssssCALEEEEEdi)l[nn.F]s].args[nn.F][-poTssssLength:])E%T w't,as 

=,"""""CAncoPCE_HElayaelsssssCALE)lsS#"CAnc, go to lse)rCt $dspon=ho)l"qoPCE_HElayaelsssssCALEEEEEdi)l[nn.F]s].args[nn.F][dffs)n:dffs)n+poTssssLength]To) ==, .
=,"oPC_s 

hin)Bi
t('BankNamet PM("vas 

=,"ikeyelss 

hin)args1nc0, **kwwwwwwwwwwwwwpoTssssLengthT].ecnl[nn.F].ee(1nc0, **kwwwwwwwwwwwwwdffs)n = .Eep *wpoTssssLengthnc0, **kwwwwwwwwwwwwwelsHdffs)n +wpoTssssLength)o>=Alen(args[nn.F])oPCE_HElayaelsssssCALE)lsS#dLE_lsis ecqeiseLoo big,iusc sist partoPCE_HElayaelsssssCALEEEEEdi)l[nn.F]s].args[nn.F][-poTssssLength:])E%T w't,as 

=,"""""CAncoPCE_HElayaelsssssCALE)lsS#"CAnc, go to lse)rCt $dspon=ho)l"qoPCE_HElayaelsssssCALEEEEEdi)l[nn.F]s].args[nn.F][dffs)n:dffs)n+poTssssLength]To) ==, .
=,"#is)nrinfo"oPC_predi)ilums:-------------------------To) ==, .
=,"oPC_p inLiify(predi)lumsoPCE_HElayaelsssss(inNn.F, di
Nn.F)o=epPM("vas 

=,"ikeyenLi s.T].iify(s)nLi s.(inN 

)s s):nc.l
=,"ikeyef_]""ninisnc
otHElaaae'' nput PM("vas 

=,")lsSwwwwrsnadoisnc
Er
o
, ('Predi)lums:e.t('tli s.Tn""ntHEla\'' npu\'.',oinisnc
otHEl)s s):nc.l
=,"ikeyo('Li s.T].iify(s)nLi s.(di
Nn.F)s s):nc.l
=,"ikeyef_]""no('Li s.otHElaaae'Oi
t('t PM("vas 

=,")lsSwwwwrsnadoisnc
Er
o
, ('Predi)lums:Bi
t('tli s.Tn""ntHEla\'Oi
t('\'.',oo('Li s.otHEl)eyeinikeyword**kwelseEep ==_scquencFLengthT- 1:"#isist e,eri)TsequencF; wtat_do oP do?s s):nc.lllllwwwwllll.E_HE = 
n# erapeto nexn=hot('tvl)lrreyeinnnnnnc.l
=,"ikeyef_]""niify(_sweepi)g:s#"non=ho)lweep, ho)lEep, no.t= s)nPCE_HElayaelsssssCALEEEEErsnadoisnc
Er
o
, "Attemptnt  to predi)lisist iteabho)l"quencF, butsu.
=i step(). UsL sweepi)Tinstead."[nlogTo].s= selsSCALECAncos#in ea)sweep, .ois)nreAn
sexn=poTssssThlse,e)nc0, **kwwwwwwwww
=,"**kwelse"sSClurrentSweepC=uit =aene,e)s#isist iteabho)epoch,"predi)liback to firs lpoTssssPM("vvvvvvvvvvvvvvvvvvvvvvvvv# T
sn ehtTto predi)lifirs lpoTssss,ifirs lsequencF_iteaPM("vvvvvvvvvvvvvvvvvvvvvvvvvpoTssssT].iify(s)nDatail"sSCloadOrds.[0T)eyeinikeyword**kwwwwwwwwwwwwwoPC_keyTn epoTssss:)E%T w't,as 

=,""""")lsSSSSSSSSSpoTssss[key] = iify(reslacePoTsssstidpoTssss[key],_keyT)PM("vas 




















LE_inN 

hin)e.t('BankNamet PM("vas 

=,"ikey















LE_inN 

hin)poTssss:)E%T w't,as 

=,""""")lsSSSSSSSSSSSSSdi)l[di
Nn.F][=epoTssss[inN 

][.E_HE:.E_HE+poTssssLength]To) ==, .
=,"""""""""""""""""#di)l[di
Nn.F][=epoTssss["ioPCn"][.E_HE:.E_HE+poTssssLength]To) ==, .
=,"""""""""""""CAncoPCE_HElayaelsssssCALE)lsS
=,"poTssssT].iify(s)nDatail"sSCloadOrds.[e"sSClurrentSweepC=uit+1])eeyeinikeyword**kwwwwwwwwwwwwwoPC_keyTn epoTssss:)E%T w't,as 

=,""""")lsSSSSSSSSSpoTssss[key] = iify(reslacePoTsssstidpoTssss[key],_keyT)PM("vas 




















LE_inN 

hin)e.t('BankNamet PM("vas 

=,"ikey















LE_inN 

hin)poTssss:)E%T w't,aaaaaaaaaaaaaaaaaaaaaaaaaaaadi)l[di
Nn.F][=epoTssss[inN 

][.E_HE:.E_HE+poTssssLength]To) ==, .
=,"""""""""""""""""#di)l[di
Nn.F][=epoTssss["ioPCn"][.E_HE:.E_HE+poTssssLength]To) ==, .
=,"""""CAncos#in emiddlreoToeequencFs s):nc.lllllwwwwllll.E_HE = (.Eep +e1) * inisnc
oee(1nc0, **kwwwwwwwwwwwwwdi)l[di
Nn.F][=eargs[inN 

][.E_HE:.E_HE+poTssssLength]To) ==, .
=,"#"Coaspredi)ilums:code -----------------------------eyeinikeywordLE_iEep <_scquencFLengthT- 1:"#in""ntheisist e,es s):nc.l
=,"ikeyef_]""nncnlorear Durnt SequencF1nc0, **kwwwwwwwwwwwwwncnloSear nt  = 
eyeinikeywordHEcvalsd=.Eithh"isetheStep(**di)l)et):nc.lseeidl"sSCSear nt  = Sear nt  #C...sase)oP ct )Li iteoTfet):nc.lseeidtotalREcvalsd=.map(lambda x,y: x+y,dtotalREcvals[:3],dHEcvals[:3])et):nc.lseeidlumMe s)(totalPCorrecE,dHEcvals[3])et):nc.lseeidtotalREcvals.sn)lsSCdtotalPCorrecE)nc0, **kwHEct )TtotalREcvalss s):3.) prePropagate(h=
=,o**args):[nlogTo].ef_]""nncnlolurtexnCopynt  PM("vas 

=,"oPC_l "\nTho)ncnlori s.e PM("vas 

=,"ikeyelsS'uanhkioasyae"CE_texn"1nc0, **kwwwwwwwwwwwwwS'uanh = a.sca.lS)n = 1s s):nc.lHEct )TNe,es s):3.) postBackprimih=
=,o**args):[nlogTo].elsl"sSClurtexnCopynt  PM("vas 

=,"l"sSClupyHidde_ToCurtexn()w#Cm) "Ego  ft\nEer
o
 LEmputata.leyeinikeyHEct )TNe,es s):3.) "isetheStep(h=
=,o**args):[nlogTo].sLis s):nc.lTsis_Exists .oittat_oRr[extlssa.ls canse.t\nfaceoa"ntheipoiit)E%T w't,wsereTlse)l dTois_code to Nisethe.step(). Seedgo(1=nor.py"oPC)E%T w't,ansExample.aya CanvasLis s):nc.lHEct )TNisethe.step(h=
=,o**args)eyein3.) sweepCrossVididsca.lih=
=):[nlogTo].HEct )TNisethe.sweepCrossVididsca.lih=
=)

i) __nn.F__aaae'__msn __t PM("v#lC
_-x: Sample Nisethes)E%T # (c) 2001, D.S. Blank)E%T # Bryn MawrlC
llegls s):#Ehttp://eme s)nt.b
ynmawr.edu/neyein3.) ask(queslums):[nlogTo].pinia:queslums, '[y/n/q] ',)E%T w't,ansd=.Eys.stdin.readl(,e()[0TClows.()s s):nc.lelsansd=ae'qt PM("vas 

=,"Eys.Exito)trtex.debHEct )Tansd=ae'y'ss s):sT].Nisethe()trtexn.s)nSeed(114366.64)trtexn.addThreeLi s.si2, 2, 1s)E%T n.s)nIoPCns([[0.0, 
.0],)E%T w't,as 

=,"*[0.0, 1.0],)E%T w't,as 

=,"*[1.0, 
.0],)E%T w't,as 

=,"*[1.0, 1.0])E%T w't,as 

=,"*]s)E%T n.s)n = s)ne([[0.0],)E%T w't,as 

=,"**[1.0],)E%T w't,as 

=,"**[1.0],)E%T w't,as 

=,"**[0.0])E%T w't,as 

=,"**]s)E%T n.s)nRe s)nRate(10)
[nlogi) ask("Do
you waia:to lestslse)SigmaNisethe?"):[nlogTo].n)n = SigmaNisethe()[nlogTo].n)n.s)nSeed(457646.23)[nlogTo].n)n.addLi s.si2, 5, 11)[nlogTo].n)n.s)nIoPCns( [[0, 
],A[
, 1], [1, 
], [1, 1]T )PM("vas 
n)n.s)n = s)ne( [[0], [1], [1], [0]T )PM("vas 
n)n.t
sn ()PM("vas 
#n)n.insss = a.c = 1s s):nc.l#n)n.Sear nt  = 
eyeinikeyn)n.sweepi)eyeinikey[nlogi) ask("Do
you waia:to lestslse)poTssssTreslacemlif utis(ty?"):[nlogTo].n)n = Nisethe()[nlogTo].n)n.addThreeLi s.si3, 2, 3)PM("vas 
n)n.s)n olerskce(.4)PM("vas 
pinia:=S)ntnt  poTsssst[to e,er0,0,0;Ctwo 1,1,1..."[nlogTo].sis.s)nPoTsssstH {"e,e" : [0, 
, 
], "two" :  [1, 1, 1]} )PM("vas 
pinia:sis.s)nPoTssssH"e,e")PM("vas 
pinia:sis.s)nPoTssssH"two")PM("vas 
pinia:=Reslac
=i eoTsssst... (.huuldiHEct )T[0, 
, 
, 1, 1, 1])is s):nc.leinia:sis.reslacePoTssssti["e,e", "two"])[nlogTo].n)n.s)nIoPCns([ "e,e", "two" ])[nlogTo].n)n.copyA= a.sca.ls(sis["ioPCn"],onisCinPCns[0])[nlogTo].n)n.res)tFlags()PM("vas 
pinia:=e,eris: ",)E%T w't,einia:sis["ioPCn"].s)nA= a.sca.ls()[nlogTo].n)n.copyA= a.sca.ls(sis["ioPCn"],onisCinPCns[1])[nlogTo].n)n.res)tFlags()PM("vas 
pinia:=two is: ",)E%T w't,einia:sis["ioPCn"].s)nA= a.sca.ls()[nlogTo].n)n.addPoTssss("1", 1s)E%T w't,n)n.addPoTssss("0", 
)PM("vas 
pinia:=S)ntnt  poTsssst[to 0t oas1..."[nlogTo].sis.s)nIoPCns([ [ "0", "1", "0" ], ["1", "1", "1"]])PM("vas 
pinia:= estnt  reslacePoTsssst[ oaspoTssssVl)lrr..."[nlogTo].einia:sis.reslacePoTsssstinisCinPCns[0])[nlogTo].einia:sis.poTssssVl)lrrHsis.reslacePoTsssstinisCinPCns[0]))[nlogTo].n)n.copyA= a.sca.ls(sis["ioPCn"],onisCinPCns[0])[nlogTo].n)n.res)tFlags()PM("vas 
pinia:=0 1 0tis: ",)E%T w't,einia:sis["ioPCn"].s)nA= a.sca.ls()[nlogTo].n)n.copyA= a.sca.ls(sis["ioPCn"],onisCinPCns[1])[nlogTo].pinia:=1 1 1 is: ",)E%T w't,einia:sis["ioPCn"].s)nA= a.sca.ls()[nlogTo].pinia:=Re(1=se look upeoTo.2, .3, .2ois_",ssis.s)nWord([.2, .3, .2])[nlogTo].pinia:=Re(1=se look upeoTo.8, .7, .5ois_",ssis.s)nWord([.8, .7, .5])[nlogTo].pinia:=Re(1=se look upeoTo.8, .9, 1 is_",ssis.s)nWord([.8, .9, 1])[nlogTo].i) ask("Do
you waia:to lestssavnt   oasloadnt  olspoTssssLisioPCns aoast= s)ns?"):[nlogTo].To].einia:sis.poTsssss[nlogTo].To].einia:sis.poTssssed[nlogTo].To].sis.s)nIoPCns(['e,e','two'])et):nc.lseeidn)n.s)n = s)ne([['1'],['0']])et):nc.lseeidpinia:=F2sa"n.F to savleinPCns: ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lseeidpinia:=Savnt  InPCns: ",onisCinPCnset):nc.lseeidn)n.savl' nputToFil(if2sa"n.F
et):nc.lseeidn)n.load' nputFrLaFil(if2sa"n.F
et):nc.lseeidpinia:=Loadnt  InPCns: ",onisCinPCnset):nc.lseeidpinia:=F2sa"n.F to savlet= s)ns: ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lseeidpinia:=Savnt  T= s)ns: ",
n)n.t= s)nset):nc.lseeidn)n.savl = s)neToFil(if2sa"n.F
et):nc.lseeidn)n.load = s)neFrLaFil(if2sa"n.F
et):nc.lseeidpinia:=Loadnt  T= s)ns: ",
n)n.t= s)nset):nc.lsi) ask("Do
you waia:to lestssavnt   oasloadnt  poTssssLisdata?"):[nlogTo].To].einia:=S)ntnt  ioPCns aoast= s)ns..."[nlogTo].eeidn)n.s)nIoPCns(['e,e','two'])et):nc.lseeidn)n.s)n = s)ne([['1'],['0']])et):nc.lseeidpinia:=F2sa"n.F to savledata: ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lseeidpinia:=Savnt  data: "[nlogTo].To].einia:sis.inPCnset):nc.lseeidpinia:n)n.t= s)nset):nc.lseeidn)n.savlDataToFil(if2sa"n.F
et):nc.lseeidpinia:=Loadnt  data: "[nlogTo].To].n)n.loadDataFrLaFil(if2sa"n.F, 1
et):nc.lseeidpinia:sis.inPCnset):nc.lseeidpinia:n)n.t= s)nset):nc.lseeid[nlogi) ask("Do
you waia:to lestssavnt   oasloadnt  ioPCns aoast= s)nsrosedsXOR?"):[nlogTo].pinia:=F2sa"n.F to savleinPCns: ",)E%T w't,f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lspinia:=Savnt  InPCns: ",on.inPCnset):nc.lsn.savl' nputToFil(if2sa"n.F
et):nc.lsn.load' nputFrLaFil(if2sa"n.F
et):nc.lspinia:=Loadnt  InPCns: ",on.inPCnset):nc.lspinia:=F2sa"n.F to savlet= s)ns: ",)E%T w't,f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lspinia:=Savnt  T= s)ns: ",
n.t= s)nset):nc.lsn.savl = s)neToFil(if2sa"n.F
et):nc.lsn.load = s)neFrLaFil(if2sa"n.F
et):nc.lspinia:=Loadnt  T= s)ns: ",
n.t= s)nse[nlogi) ask("Do
you waia:to lestssavnt   oasloadnt  XORsdata?"):[nlogTo].pinia:=F2sa"n.F to savledata: ",)E%T w't,f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lspinia:=Savnt  data: "[nlogTo].pinia:n.inPCnset):nc.lspinia:n.t= s)nset):nc.lsn.savlDataToFil(if2sa"n.F
et):nc.lspinia:=Loadnt  data: "[nlogTo].n.loadDataFrLaFil(if2sa"n.F, 1
et):nc.lspinia:n.inPCnset):nc.lspinia:n.t= s)nset):nc.ls[nlogi) ask("Do
you waia:to seed a n lestsmiddle?"):[nlogTo].pinia:'' npu A= a.sca.ls:',
n.s)nLi s.('e.t('').s)nA= a.sca.ls()[nlogTo].pinia:=S)ntnt  t= s)n to .5"[nlogTo].n.s)nLi s.("di
t('").copy = s)ne([.5])[nlogTo].pinia:'Oi
t(' T= s)ns:',
n.s)nLi s.('Bi
t('').s)n = s)ne(
et):nc.lsn.LEmpute_er
o
()[nlogTo].pinia:'Oi
t(' TSS Er
o
:',
n.TSSEr
o
("di
t('")[nlogTo].pinia:'Oi
t(' CorrecE:',
n.s)nCorrecE('Bi
t('')e[nlogi) ask("Do
you waia:to ru)TansXORsBACKPROPssisetheein QUICKPROPsmode?"):[nlogTo].pinia:=XORsQuickprimsmode: .............................."[nlogTo].n = Nisethe()[nlogTo].n.s)nSeed(1234)[nlogTo].n.addLi s.si2, 2, 1s)E%T w't,n.quickprimo=e1nc0, **kws.muo=e1.75nc0, **kws.epsilms:=A4.0nc0, **kws.maxR.Edom[=e1.0nc0, **kws.s)nIoPCns( [[0, 
],A[
, 1], [1, 
], [1, 1]T )PM("vas 
n.s)n = s)ne( [[0], [1], [1], [0]T )PM("vas 
n.res)t()[nlogTo].n.s)nRe s)nRate(5)PM("vas 
n.res)tEpoch =s100PM("vas 
n.res)tLimin = 5nc0, **kws.t
sn ()PM("vas 
pinia:=s)nEr
o
('Bi
t('') = (tss, correcE,ohital):",
n.s)nEr
o
("di
t('")[nlogTo].pinia:=s)nEr
o
('Bi
t('', 'Bi
t('') :",
n.s)nEr
o
("di
t('", "di
t('")PM("vas 
#dlestscrossvididsca.l ---------------------------------PM("vas 
pinia:= estnt  crossvididsca.l..ssavnt  sisetheesweepein 'sample.cv'..."[nlogTo].im s)nTposix,TposixpoThnc0, **kwifTposixpoTh.Exists("sample.cv"):[nlogTo].To].eosix.unl(,k("sample.cv")[nlogTo].n.lear nt  = 
eyeinikeyn.crossVididsca.lSampleRate = 1s s):nc.l#savlssin "sample.cv"[nlogTo].n.sweepi)eyeinikeyn.lear nt  = 1eyeinikeyn.crossVididsca.lSampleRate = 0PM("vas 
pinia:=Loadnt  crossvididsca.l 1rLab'sample.cv'..."[nlogTo].n.loadCrossVididsca.li"sample.cv")[nlogTo].pinia:=Corpus:",
n.crossVididsca.lCorpusPM("vas 
#dres)t lod a nedi)g normals s):nc.ln = Nisethe()[nlogTo].n.addLi s.si2, 2, 1s)E%T w't,n.s)nIoPCns( [[0, 
],A[
, 1], [1, 
], [1, 1]T )PM("vas 
n.s)n = s)ne( [[0], [1], [1], [0]T )P[nlogi) ask("Do
you waia:to ru)TansXORsBACKPROPssisetheein BATCHsmoderosedscross vididsca.l?"):[nlogTo].pinia:=XORsBackprim boTchsmode: .............................."[nlogTo].n.crossVididsca.lCorpus = ({"ioPCn" : [0.1, 0.1], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN{"ioPCn" : [0.2, 0.2], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN{"ioPCn" : [0.3, 0.3], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN{"ioPCn" : [0.4, 0.4], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN{"ioPCn" : [0.5, 0.5], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN{"ioPCn" : [0.6, 0.6], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN{"ioPCn" : [0.7, 0.7], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN{"ioPCn" : [0.8, 0.8], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN{"ioPCn" : [0.9, 0.9], "di
t('" : [0.0]},)E%T w't,as 

=,"**kwNNNNNNNNNNNNNNN)PM("vas 
n.s)nBoTch(1)PM("vas 
n.res)t()[nlogTo].n.s)nEpsilms(0.5)[nlogTo].n.s)nMomlifum(.975)[nlogTo].n.s)nRe s)nRate(100)[nlogTo].n.t
sn ()P[nlogi) ask("Do
you waia:to ru)TansXORsBACKPROPssisetheein NON-BATCHsmoderosedsNON-HYPERBOLIC ERROR?"):[nlogTo].pinia:=XORsBackprim non-boTchsmode non-hyperblocEer
o
..........."[nlogTo].n.s)nBoTch(0)[nlogTo].n.hyperbolicEr
o
 = 
eyeinikeyn.res)t()[nlogTo].n.s)nEpsilms(0.5)[nlogTo].n.s)nMomlifum(.975)[nlogTo].n.s)nRe s)nRate(10)[nlogTo].n.t
sn ()PnlogTo].i) ask("Do
you waia:to ru)TansXORsBACKPROPssisetheein NON-BATCHsmoderosedscross vididsca.l?"):[nlogTo].To].pinia:=XORsBackprim non-boTchsmode: .........................."[nlogTo].To].n.s)nBoTch(0)[nlogTo].ikeyn.res)t()[nlogTo].To].n.s)nEpsilms(0.5)[nlogTo].To].n.s)nMomlifum(.975)[nlogTo].To].n.s)nRe s)nRate(10)[nlogTo].To].n.t
sn ()PnlogTo].i) ask("Do
you waia:to lestsprim_1rLa()_ceeds ?"):[nlogTo].To].n.prim_1rLa([n.s)nLi s.('e.t('')])et):nc.lseeidpinia:=Oi
t('  = a.sca.ls: ",
n.s)nLi s.('Bi
t('').s)nA= a.sca.ls()[nlogTo].eeidpinia:=Hidde_t = a.sca.ls: ",
n.s)nLi s.('hidde_').s)nA= a.sca.ls()[nlogTo].eeidpinia:=Nowspropagatnt  direcEly 1rLabhidde_tli s...."[nlogTo].To].n.prim_1rLa([n.s)nLi s.('hidde_')])et):nc.lseeidpinia:=Oi
t('  = a.sca.ls (.huuldi]""nhavleLi thrd): ",

n.s)nLi s.('Bi
t('').s)nA= a.sca.ls()[nlogTo].eeidpinia:=Hidde_t = a.sca.ls (.huuldi]""nhavleLi thrd): ",
n.s)nLi s.('hidde_').s)nA= a.sca.ls()[nlogTo].eeidpinia:=Nowss)ntnt  hidde_t = a.sca.ls..."[nlogTo].To].n.s)nLi s.('hidde_').s)tA= a.sca.ls([0.0, 
.0])et):nc.lseeidpinia:=Oi
t('  = a.sca.ls: ",
n.s)nLi s.('Bi
t('').s)nA= a.sca.ls()[nlogTo].eeidpinia:=Hidde_t = a.sca.ls: ",
n.s)nLi s.('hidde_').s)nA= a.sca.ls()[nlogTo].eeidpinia:=Nowspropagatnt  direcEly 1rLabhidde_tli s...."[nlogTo].To].n.prim_1rLa([n.s)nLi s.('hidde_')])et):nc.lseeidpinia:=Oi
t('  = a.sca.ls: ",

n.s)nLi s.('Bi
t('').s)nA= a.sca.ls()[nlogTo].eeidpinia:=Hidde_t = a.sca.ls: ",
n.s)nLi s.('hidde_').s)nA= a.sca.ls()[et):nc.lseeid[nlogi) ask("Do
you waia:to lestsansANDssisethe?"):[nlogTo].pinia:=Creatnt   oasru)nnt   oassisethe..."[nlogTo].n = Nisethe()[nlogTo].n.s)nSeed(114366.64)trtexTo].n.add(t $tt('e.t('',2))eeyeinikeyn.add(t $tt('Bi
t('',1))eeyeinikeyn.lur l)l('e.t('','Bi
t('') )E%T w't,n.s)nIoPCns([[0.0,0.0],[0.0,1.0],[1.0,0.0],[1.0,1.0]]) )E%T w't,n.s)n = s)ne([[0.0],[0.0],[0.0],[1.0]]) )E%T w't,n.s)nEpsilms(0.5) )E%T w't,n.s)n olerskce(0.2) )E%T w't,n.s)nRe s)nRate(5) )E%T w't,n.t
sn () PnlogTo].i) ask("Do
you waia:to pickleTlse)previousssisethe?"):[nlogTo].To].im s)nTpickle[nlogTo].eeidpinia:=Picklnt  sisethe..."[nlogTo].To].pinia:=F2sa"n.F to savledata (.pickle): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lseeidpinia:=S)ntnt  logtli s...."[nlogTo].To].n.logt $tt('e.t('',o'e.t('.log'set):nc.lseeid#)previously didE]""netheeilsS'uannhad a
f2saipoiits.[nlogTo].To].n.savlNisetheToFil(if2sa"n.F
et):nc.lseeidpinia:=Loadnt  f2sa..."[nlogTo].To].fmo=eopenif2sa"n.Fr+w".pickle")[nlogTo].To].n[=epickle.load(fp)[nlogTo].To].fm.closetset):nc.lseeidpinia:=Sweepi)g..."[nlogTo].To].n.s)nInsss = a.c(1)[nlogTo].To].n.sweepi)e[nlogi) ask("Do
you waia:to l
sn ean SRN to predi)lieAn
ncqencFt[1,2,3t oas1,3,2?"):[nlogTo].pinia:=SRN ..................................................."[nlogTo].pinia:=Itnis_]""npossiblF to perfecEly predi)lieAn
ncquencFt"[nlogTo].pinia:=1,2,3t oas1,3,2 becausc aft\nEa.1 eiRr[a 2)rrl3[moy"[nlogTo].pinia:=follow."[nlogTo].n = SRN()[nlogTo].n.s)nSeed(114366.64)trtexTo].n.addSRNLi s.si3,2,3)trtexTo].n.predi)li'e.t('','Bi
t('')trtexTo].ncq1d=.[1,0,0, 
,1,0, 
,
,1])E%T w't,ncq2d=.[1,0,0, 
,
,1, 
,1,0][nlogTo].n.s)nIoPCns([ncq1,,ncq2])[nlogTo].n.s)nSequencFTHEl("..Edom-lurtinuous")[nlogTo].n.s)nRe s)nRate(75)[nlogTo].n.s)nEpsilms(0.1s)E%T w't,n.s)nMomlifum(0s)E%T w't,n.s)nBoTch(1)PM("vas 
n.s)n olerskce(0.25)[nlogTo].n.s)nStopPerclif(0.7)[nlogTo].n.s)nRes)tEpoch(2000s)E%T w't,n.s)nRes)tLimin(0s)E%T w't,#n.s)nInsss = a.c(1)[nlogTo].#n.vl== s)nco=e3[nlogTo].tempo=etimeotime()[nlogTo].n.t
sn ()PnlogTo].timero=etimeotime() -.tempPM("vas 
pinia:= imeo..",.timer[nlogi) ask("Do
you waia:to l
sn ean SRN to predi)lieAn
ncqencFt[1,2,3,2,1?"):[nlogTo].pinia:=SRN ..................................................."[nlogTo].n = SRN()[nlogTo].n.s)nSeed(114366.64)trtexTo].n.addSRNLi s.si3,5,3)trtexTo].n.predi)li'e.t('','Bi
t('')trtexTo].ncq1d=.[1,0,0, 
,1,0, 
,
,1, 
,1,0, 1,0,0][nlogTo].n.s)nIoPCns([ncq1])[nlogTo].n.s)nSequencFTHEl("ords.ed-lurtinuous")[nlogTo].n.s)nRe s)nRate(75)[nlogTo].n.s)nEpsilms(0.1s)E%T w't,n.s)nMomlifum(0s)E%T w't,n.s)nBoTch(1)PM("vas 
n.s)n olerskce(0.25)[nlogTo].n.s)nStopPerclif(1.00s)E%T w't,n.s)nRes)tEpoch(20000s)E%T w't,n.s)nRes)tLimin(0s)E%T w't,#n.vl== s)nco=e3[nlogTo].tempo=etimeotime()[nlogTo].n.t
sn ()PnlogTo].timero=etimeotime() -.tempPM("vas 
pinia:= imeo..",.timer[nlogw't,n.s)nLear nt (0s)E%T w't,n.s)nInsss = a.c(1)[nlogTo].n.sweepi)eyeini) ask("Do
you waia:to auto- ssociatL[ms:3 bit bisary poTsssss?"):[nlogTo].pinia:=Auto- ssociatL[.........................................."[nlogTo].n = Nisethe()[nlogTo].n.s)nSeed(114366.64)trtexTo].n.addThreeLi s.si3,2,3)trtexTo].n.s)nIoPCns([[1,0,0],[0,1,0],[0,
,1],[1,1,0],[1,
,1],[0,1,1],[1,1,1]])[nlogTo].n. ssociatLi'e.t('','Bi
t('')trtexTo].n.s)nRe s)nRate(25)[nlogTo].n.s)nEpsilms(0.1s)E%T w't,n.s)nMomlifum(0.9s)E%T w't,n.s)nBoTch(1)PM("vas 
n.s)n olerskce(0.25)[nlogTo].n.s)nStopPerclif(0.9s)E%T w't,n.s)nRes)tEpoch(1000s)E%T w't,n.s)nRes)tLimin(2)[nlogTo].n.t
sn ()P[nlogi) ask("Do
you waia:to lestsa raamssisethe?"):[nlogTo].pinia:=Raams...................................................."[nlogTo].# createssisethe:[nlogTo].Haams= SRN()[nlogTo].Haam.s)nSeed(114366.64)trtexTo].Haam.s)nPoTssssti{"john"  : [0, 
, 
, 1],[nlogTo].To]..............."likFt" : [0, 
, 1, 
],[nlogTo].To]..............."mary"  : [0, 1, 
, 
],[nlogTo].To]..............."it" : [1, 
, 
, 
],[nlogTo].To]...............})trtexTo].ne(1 =.len(Haam.s)nPoTssssH"john"))trtexTo].Haam.addSRNLi s.sihe(1, ne(1 * 2, ee(1)s s):nc.lHaam.add( Li s.("di
lurtexn", ne(1 * 2) )s s):nc.lHaam.lur l)l("hidde_", "di
lurtexn")s s):nc.lHaam.associatLi'e.t('', 'Bi
t('')trtexTo].Haam.associatLi'lurtexn', 'di
lurtexn')trtexTo].Haam.s)nIoPCns([ [ "john",."likFt",."mary" ],[nlogTo].To]..............[."mary",."likFt",."john" ],[nlogTo].To]..............[."john",."it",."john" ],[nlogTo].To]..............[."mary",."it",."mary" ],[nlogTo].To]..............])[nlogTo].#ssisetheelear nt  paramets.e PM("vas 
Haam.s)nSequencFTHEl("ords.ed-lurtinuous")[nlogTo].Haam.s)nRe s)nRate(10)[nlogTo].Haam.s)nEpsilms(0.1s)E%T w't,Haam.s)nMomlifum(0.0)[nlogTo].Haam.s)nBoTch(0)[nlogTo].#"Coant  crits.ia PM("vas 
Haam.s)n olerskce(0.4)trtexTo].Haam.s)nStopPerclif(1.0)[nlogTo].Haam.s)nRes)tEpoch(5000s)E%T w't,Haam.s)nRes)tLimin(0s)E%T w't,#_lsis cansbeepickledToesmbda's can'n:[nlogTo].#Cbutsdon'n_do lsis..._]""nenough l
sn i)gs s):nc.l#3.) testDone(c,.t):dHEct ) Haam["di
t('"].correcE !=w1.0nc0, **kw#Haam.doWhil(o=etestDone)E%T w't,#_l
sn :[nlogTo].tempo=etimeotime()[nlogTo].Haam.t
sn ()PnlogTo].timero=etimeotime() -.tempPM("vas 
pinia:= imeo..",.timer[nlogw't,Haam.s)nLear nt (0s)E%T w't,Haam.s)nIosss = a.c(1)[nlogTo].i) ask("Do
you waia:to seed( oassavl)Tlse)previousssisethe?"):[nlogTo].To].pinia:=F2sa"n.F to savlesisethee(.pickle): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lseeidHaam.savlNisetheToFil(if2sa"n.F
et):nc.lseeidHaam.sweepi)eyeinikeyi) ask("Do
you waia:to savlewPCt $t[of)previousssisethe?"):[nlogTo].To].pinia:=F2sa"n.F to savlewPCt $t[(.wts): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptsr+w".wts"et):nc.lseeidHaam.savlWPCt $tToFil(if2sa"n.F
et):nc.lseeidi) ask("Do
you waia:to l
ysloadnt  lse)wPCt $t[you j) "Esavldd( oassweepi))?"):[nlogTo].To].To].pinia:=Loadnt  st oaarasstyle)wPCt $t..."[nlogTo].To].eeidHaam.loadWPCt $tFrLaFil(if2sa"n.F
et):nc.lseeideeidHaam.sweepi)eyeinikeyi) ask("Do
you waia:to savlewPCt $t[of)previousssisethehin)plsn eformat?"):[nlogTo].To].pinia:=F2sa"n.F to savlewPCt $t[(.wts): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptsr+w".wts"et):nc.lseeidHaam.savlWPCt $tToFil(if2sa"n.F, 'plsn '
et):nc.lseeidi) ask("Do
you waia:to l
ysloadnt  lse)wPCt $t[you j) "Esavldd( oassweepi))?"):[nlogTo].To].To].pinia=Loadnt  plsn estyle)wPCt $t..."[nlogTo].To].eeidHaam.loadWPCt $tFrLaFil(if2sa"n.F, 'plsn '
et):nc.lseeideeidHaam.sweepi)eyeinikeyi) ask("Do
you waia:to savlewPCt $t[of)previousssisethehin)tlear eformat?"):[nlogTo].To].pinia:=F2sa"n.F to savlewPCt $t[(.wts): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptsr+w".wts"et):nc.lseeidHaam.savlWPCt $tToFil(if2sa"n.F, 'tlear '
et):nc.lseeidi) ask("Do
you waia:to l
ysloadnt  lse)tlear estyle)wPCt $t[you j) "Esavldd( oassweepi))?"):[nlogTo].To].To].pinia:=Loadnt  tlear estyle)wPCt $t..."[nlogTo].To].eeidHaam.loadWPCt $tFrLaFil(if2sa"n.F, 'tlear '
et):nc.lseeideeidHaam.sweepi)eyeinikeyyyyyyyyy[nlogi) ask("Do
you waia:to l
sn eassisethehto both predi)li oasauto- ssociatL?"):[nlogTo].pinia:=SRN  oasauto- ssociatLs..................................."[nlogTo].n = SRN()[nlogTo].n.s)nSeed(114366.64)trtexTo].n.addSRNLi s.si3,3,3)trtexTo].n.add(t $tt(' ssoc' nput,3))trtexTo].n.lur l)l('hidde_', ' ssoc' nput)[nlogTo].n. ssociatLi'e.t('', ' ssoc' nput)[nlogTo].n.predi)li'e.t('', 'Bi
t('')trtexTo].n.s)nIoPCns([[1,0,0, 
,1,0, 
,
,1, 
,
,1, 
,1,0, 1,0,0]])[nlogTo].n.s)nSequencFTHEl("ords.ed-lurtinuous")[nlogTo].n.s)nRe s)nRate(25)[nlogTo].n.s)nEpsilms(0.1s)E%T w't,n.s)nMomlifum(0.3)trtexTo].n.s)nBoTch(1)PM("vas 
n.s)n olerskce(0.1)PM("vas 
n.s)nStopPerclif(0.7)[nlogTo].n.s)nRes)tEpoch(2000s)E%T w't,n.s)nRes)tLimin(0s)E%T w't,n.s)nOrds.edIoPCns(1)PM("vas 
tempo=etimeotime()[nlogTo].n.t
sn ()PnlogTo].timero=etimeotime() -.tempPM("vas 
pinia:= imeo..",.timer[nlogw't,n.s)nLear nt (0s)E%T w't,n.s)nInsss = a.c(1)[nlogTo].i) ask("Do
you waia:to seed( oassavl)Tlse)previousssisethe?"):[nlogTo].To].pinia:=F2sa"n.F to savlesisethee(.pickle): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptset):nc.lseeidn.savlNisetheToFil(if2sa"n.F
et):nc.lseeidn.sweepi)eyeinikeyi) ask("Do
you waia:to savlewPCt $t[of)previousssisethe?"):[nlogTo].To].pinia:=F2sa"n.F to savlewPCt $t[(.wts): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptsr+w".wts"et):nc.lseeidn.savlWPCt $tToFil(if2sa"n.F
et):nc.lseeidi) ask("Do
you waia:to l
ysloadnt  lse)wPCt $t[you j) "Esavldd( oassweepi))?"):[nlogTo].To].To].pinia:=Loadnt  st oaarasstyle)wPCt $t..."[nlogTo].To].eeidn.loadWPCt $tFrLaFil(if2sa"n.F
et):nc.lseeideeidn.sweepi)eyeinikeyi) ask("Do
you waia:to savlewPCt $t[of)previousssisethehin)plsn eformat?"):[nlogTo].To].pinia:=F2sa"n.F to savlewPCt $t[(.wts): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptsr+w".wts"et):nc.lseeidn.savlWPCt $tToFil(if2sa"n.F, 'plsn '
et):nc.lseeidi) ask("Do
you waia:to l
ysloadnt  lse)wPCt $t[you j) "Esavldd( oassweepi))?"):[nlogTo].To].To].pinia=Loadnt  plsn estyle)wPCt $t..."[nlogTo].To].eeidn.loadWPCt $tFrLaFil(if2sa"n.F, 'plsn '
et):nc.lseeideeidn.sweepi)eyeinikeyi) ask("Do
you waia:to savlewPCt $t[of)previousssisethehin)tlear eformat?"):[nlogTo].To].pinia:=F2sa"n.F to savlewPCt $t[(.wts): ",)E%T w't,as 
f2sa"n.Fd=.Eys.stdin.readl(,e()..trnptsr+w".wts"et):nc.lseeidn.savlWPCt $tToFil(if2sa"n.F, 'tlear '
et):nc.lseeidi) ask("Do
you waia:to l
ysloadnt  lse)tlear estyle)wPCt $t[you j) "Esavldd( oassweepi))?"):[nlogTo].To].To].pinia:=Loadnt  tlear estyle)wPCt $t..."[nlogTo].To].eeidn.loadWPCt $tFrLaFil(if2sa"n.F, 'tlear '
et):nc.lseeideeidn.sweepi)eyeinikeyyyyyyyyy[nlogi) ask("Do
you waia:to Li thrieAn
ne(1 o) a
hidde_tl'uannin)3-3-3ssisethe?"):[nlogTo].pinia:=Creatnt  3-3-3ssisethe..."[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si3,3,3)trtexTo].n.displsy()PM("vas 
pinia:=New
hidde_tl'uannne(1: ",)E%T w't,ne(1 =.intiEys.stdin.readl(,e()..trnpts)eyeinikeyi) n""ntHEl(ee(1) ==.int PM("vas 

=,"Ee(1 =.0PM("vas 
pinia:=Ci thnt  se(1 o) hidde_tli s...."[nlogTo].l
y PM("vas 

=,"# exceplums)throwl 1rLabLi thrSe(1 in)Cur l)lums:crisss s):rtexTo].n.Li thrLi s.Se(1('hidde_', ee(1)s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelsn.displsy()P[nlogi) ask("Do
you waia:to lestsisnc
Er
o
 exceplumsssin Li s.Tcriss?"):[nlogTo].pinia:=Trynt  to createsatl'uannosedsse(1 zero..."[nlogTo].l
y PM("vas 

=,"lT].Li s.('broke_', 0)s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Trynt  to ci thriatl'uannoToee(1 threesto se(1 zerorosedsci thrSe(1()..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l
y PM("vas 

=,"l.ci thrSe(1(0)s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Trynt  to c dTos)nWir lr oPC_atl'uannattributlittat_doesn'n_Exist..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l
y PM("vas 

=,"l.s)nWir lr(' a nAttributl')s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].#in""littat_backprimi)dres)ts t= s)n flag[nlogTo].pinia:=Trynt  to c dTos)nWir lr('t= s)n'),wsereTl= s)n has_]""nbee)Tset..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l
y PM("vas 

=,"l.s)nWir lr('t= s)n')s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Trynt  to c dTos)tA= a.sca.ls() oPC_atl'uannwhosc a= a.sca.ls havlealreadyTbee)Tset..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l.s)tA= a.sca.ls(.5)[nlogTo].l
y PM("vas 

=,"l.s)tA= a.sca.ls(.2)s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."yaels[nlogTo].pinia:=Trynt  to c dTocopyA= a.sca.ls() oPC_atl'uannwhosc a= a.sca.ls havlealreadyTbee)Tset..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l.s)tA= a.sca.ls(.5)[nlogTo].l
y PM("vas 

=,"l.copyA= a.sca.ls([.2,.2,.2])s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Trynt  to c dTocopyA= a.sca.ls() osedsan)arraynoToincorrecE se(1..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l
y PM("vas 

=,"l.copyA= a.sca.ls([.2,.2])s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l
y PM("vas 

=,"l.copyA= a.sca.ls([.2,.2,.2,.2])s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Trynt  to c dTos)n = s)ne() oPC_atl'uannwhosc a= a.sca.ls havlealreadyTbee)Tset..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l.s)t = s)ne(.5)[nlogTo].l
y PM("vas 

=,"l.s)t = s)ne(.2)s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."yaels[nlogTo].pinia:=Trynt  to c dTocopy = s)ne() oPC_atl'uannwhosc a= a.sca.ls havlealreadyTbee)Tset..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l.s)t = s)ne(.5)[nlogTo].l
y PM("vas 

=,"l.copy = s)ne([.2,.2,.2])s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Trynt  to c dTocopy = s)ne() osedsan)arraynoToincorrecE se(1..."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l
y PM("vas 

=,"l.copy = s)ne([.2,.2])s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].lT].Li s.('broke_', 3)trtexTo].l
y PM("vas 

=,"l.copy = s)ne([.2,.2,.2,.2])s s):nc.lexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo]..........................[nlogi) ask("Do
you waia:to lestsarrayifyT oasunArrayify?"):[nlogTo].pinia:=Creatnt    3-3-3ssisethe..."[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si3,3,3)trtexTo].pinia:=Arrayifynt  sisethe..."[nlogTo].arrayn=.n.arrayify()[nlogTo].displsyArray(' est Array', array, 6)trtexTo].pinia:=unArrayifynt  sisethe..."[nlogTo].n.unArrayify(array)PM("vas 
pinia:=Now lestsunArrayify() oPC_atshs)nTgen1..."[nlogTo].delTarray[-1:])E%T w't,l
y PM("vas 

=,"n.unArrayify(array)PM("vas 
exceploIndexEr
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Now lestsunArrayigy() oPC_lot  gen1..."[nlogTo].array.extlsd([0.1,0.2])s s):nc.ll
y PM("vas 

=,"n.unArrayify(array)PM("vas 
exceploIndexEr
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[[nlogi) ask("Do
you waia:to lestsload exceplums?"):[nlogTo].pinia:=Creatnt    3-3-3ssisethe..."[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si3,3,3)trtexTo].pinia:=Loadnt  ioPCn..."[nlogTo].l
y PM("vas 

=,"n.copyA= a.sca.ls(s["ioPCn"],onCinPCns[0])[nlogTo].exceploIndexEr
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].[nlogi) ask("Do
you waia:to lestsassociatums)aoaspredi)tums)exceplumss?"):[nlogTo].pinia:=Creatnt    3-3-3ssisethe..."[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si3,3,3)trtexTo].n.s)nIoPCns([[1,1,1]])[nlogTo].n. ssociatLi'hidde_','Bi
t('')trtexTo].pinia:=Attemptnt  to  ssociatLshidde_t oasBi
t('=l'uant..."[nlogTo].l
y PM("vas 

=,"n.step()PM("vas 
exceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].n.res)tFlags()PM("vas 
n. ssociatLi'e.t('','hidde_')trtexTo].pinia:=Attemptnt  to  ssociatLse.t('t oashidde_tli s.t..."[nlogTo].l
y PM("vas 

=,"n.step()PM("vas 
exceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Creatnt  SRN sisethe..."[nlogTo].n = SRN()[nlogTo].n.addSRNLi s.si3,3,3)trtexTo].n.s)nIoPCns([[1,1,1]])[nlogTo].n.predi)li'hidde_','Bi
t('')trtexTo].n.s)nSequencFTHEl("ords.ed-lurtinuous")[nlogTo].pinia:=Attemptnt  to predi)lihidde_t oasBi
t('=l'uant..."[nlogTo].l
y PM("vas 

=,"n.step()PM("vas 
exceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].n.res)tFlags()PM("vas 
n.predi)li'e.t('','hidde_')trtexTo].pinia:=Attemptnt  to predi)lie.t('t oashidde_tli s.t..."[nlogTo].l
y PM("vas 

=,"n.step()PM("vas 
exceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[[nlogi) ask("Do
you waia:to lestsverifyIoPCns aoasverifyT= s)ns?"):[nlogTo].pinia:=Creatnt    3-3-3ssisethe..."[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si3,3,3)trtexTo].l
y PM("vas 

=,"n.verifyIoPCns()PM("vas 
exceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].l
y PM("vas 

=,"n.verify = s)ne(
et):nc.lsexceploisnc
Er
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[[nlogi) ask("Do
you waia:to lestsNisetheEr
o
 exceplumss?"):[nlogTo].pinia:=Creatnt    3-3-3ssisethe..."[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si3,3,3)trtexTo].pinia:=C dTnt  sweepi)TosedBi
einPCns..."[nlogTo].l
y PM("vas 

=,"# NisetheEr
o
 sereTindi)atLsittat_no ioPCns havlebee)TsetPM("vas 

=,"n.sweepi)eyeinikeyexceploNisetheEr
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=C dTnt  propagatL[ms:emptyssisethe..."[nlogTo].n = Nisethe()[nlogTo].l
y PM("vas 

=,"n.propagatLi)eyeinikeyexceploNisetheEr
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=C dTnt  propagatL[osedsno cur l)lumss..."[nlogTo].n.add(t $tt('e.t('', 3))trtexTo].n.add(t $tt('Bi
t('',3))trtexTo].l
y PM("vas 

=,"n.propagatLi)eyeinikeyexceploNisetheEr
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].pinia:=Trynt  to usc a nonExistaia:cur l)lums..."[nlogTo].l
y PM("vas 

=,"n.s)nCor l)lumsi'e.t('','Bi
t('')trtexTo].exceploNisetheEr
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[nlogTo].l
y PM("vas 

=,"n.s)nWPCt $ti'e.t('','Bi
t('')trtexTo].exceploNisetheEr
o
, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=No exceplums)caut $."[[nlogi) ask("Do
you waia:to lestsSRN exceplumss?"):[nlogTo].pinia:=Creatnt  SRN sisethe..."[nlogTo].n = SRN()[nlogTo].n.addSRNLi s.si3,3,3)trtexTo].n.s)nIoPCns([[1,1,1]])[nlogTo].n.s)nSequencFTHEl("ords.ed-lurtinuous")[[nlogi) ask("Do
you waia:to lestsverifyArchitl)lurLi)?"):[nlogTo].pinia:=Creatnt  normal 3-3-3sarchitl)lurL..."[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si3,3,3)trtexTo].l
y PM("vas 

=,"n.verifyArchitl)lurLi)trtexTo].exceploExceplums, err:[nlogTo].To].pinia:"ERROR: Caut $ exceplums. ",
errs s):nc.leAncoPCE_HElayaelspinia:=Good! Didn'n_coTchsexceplums."[nlogTo].pinia:=Givnt  two li s.tieAn
nn.Fd"n.F..."[nlogTo].n.s)nLi s.('hidde_')."n.Fd=.'e.t(''trtexTo].l
y PM("vas 

=,"n.verifyArchitl)lurLi)trtexTo].exceploExceplums, err:[nlogTo].To].pinia:"Good! Caut $ exceplums. ",
errs s):nc.leAncoPCE_HElayaelspinia:=ERROR: Didn'n_coTchsexceplums."[nlogTo].pinia:=Creatnt  3-3-3sarchitl)lurLrosedscurtexntli s...."[nlogTo].n = SRN()[nlogTo].n.addSRNLi s.si3,3,3)trtexTo].l
y PM("vas 

=,"n.verifyArchitl)lurLi)trtexTo].exceploExceplums, err:[nlogTo].To].pinia:"ERROR: Caut $ exceplums. ",
errs s):nc.leAncoPCE_HElayaelspinia:=Good! Didn'n_coTchsexceplums."[nlogTo].pinia:=Cor l)lut  curtexntto hidde_tl'uannagain..."[nlogTo].n.lur l)l('lurtexn','hidde_')trtexTo].l
y PM("vas 

=,"n.verifyArchitl)lurLi)trtexTo].exceploExceplums, err:[nlogTo].To].pinia:"Good! Caut $ exceplums. ",
errs s):nc.leAncoPCE_HElayaelspinia:=ERROR: Didn'n_coTchsexceplums."[nlogTo].pinia:=Creatnt  an)architl)lurLrosedsa cycsa..."[nlogTo].l
y PM("vas 

=,"n = Nisethe()[nlogTo].
=,"n.add(t $tt('1',1))[nlogTo].
=,"n.add(t $tt('2',1))[nlogTo].
=,"n.add(t $tt('3',1))[nlogTo].
=,"n.add(t $tt('4',1))[nlogTo].
=,"n.add(t $tt('5',1))[nlogTo].
=,"n.lur l)l('1','3')[nlogTo].
=,"n.lur l)l('2','3')[nlogTo].
=,"n.lur l)l('3','4')[nlogTo].
=,"n.lur l)l('4','3') #cycsa[nlogTo].
=,"n.lur l)l('4','5')[nlogTo].
=,"n.verifyArchitl)lurLi)trtexTo].exceploExceplums, err:[nlogTo].To].pinia:"Good! Caut $ exceplums. ",
errs s):nc.leAncoPCE_HElayaelspinia:=ERROR: Didn'n_coTchsexceplums."[nlogTo].pinia:=Creatnt  an)architl)lurLrosedsan unlur l)ledtli s...."[nlogTo].n = Nisethe()[nlogTo].n.add(t $tt('1',1))[nlogTo].n.add(t $tt('2',1))[nlogTo].n.add(t $tt('3',1))[nlogTo].n.lur l)l('1','3')[nlogTo].l
y PM("vas 

=,"n.verifyArchitl)lurLi)trtexTo].exceploExceplums, err:[nlogTo].To].pinia:"Good! Caut $ exceplums. ",
errs s):nc.leAncoPCE_HElayaelspinia:=ERROR: Didn'n_coTchsexceplums."[nlogTo].pinia:=Creatnt  an)architl)lurLrosedstwo unlur l)ledtsubarchitl)lurLs..."[nlogTo].n = Nisethe()[nlogTo].n.add(t $tt('1',1))[nlogTo].n.add(t $tt('2',1))[nlogTo].n.add(t $tt('3',1))[nlogTo].n.add(t $tt('4',1))[nlogTo].n.lur l)l('1','3')[nlogTo].n.lur l)l('2','4')[nlogTo].l
y PM("vas 

=,"n.verifyArchitl)lurLi)trtexTo].exceploExceplums, err:[nlogTo].To].pinia:"Good! Caut $ exceplums. ",
errs s):nc.leAncoPCE_HElayaelspinia:=ERROR: Didn'n_coTchsexceplums."[nlogTo].pinia:=Creatnt  an)architl)lurLrosedsa:cur l)lumsebetwee)Tatl'uannani itl"sSC"[nlogTo].n = Nisethe()[nlogTo].l
y PM("vas 

=,"n.add(t $tt('1',1))[nlogTo].
=,"n.add(t $tt('2',1))[nlogTo].
=,"n.lur l)l('1','2')[nlogTo].
=,"n.lur l)l('2','2')[nlogTo].
=,"n.verifyArchitl)lurLi)trtexTo].exceploExceplums, err:[nlogTo].To].pinia:"Good! Caut $ exceplums. ",
errs s):nc.leAncoPCE_HElayaelspinia:=ERROR: Didn'n_coTchsexceplums."[[nlogi) ask("Testslse)mappnt  ioPCn/l= s)n system?"):[nlogTo].To].n = Nisethe()[nlogTo].
=,"n.add(t $tt('e.t('',2))[nlogTo].
=,"n.add(t $tt('hidde_',2))[nlogTo].
=,"n.add(t $tt('Bi
t('',1))[nlogTo].
=,"n.lur l)l('e.t('','hidde_')trtexTo].
=,"n.lur l)l('hidde_','Bi
t('')trtexTo].
=,"n.verifyArchitl)lurLi)trtexTo].
=,"n.initiale(1()trtexTo].
=,"n.s)nEpsilms(0.5)[nlogTo].To].n.s)nMomlifum(.975)[nlogTo].To].n.mapIoPCn('e.t('',0)[nlogTo].To].n.map = s)n('Bi
t('',0)[nlogTo].To].n.s)nIoPCns([[0.0, 
.0],)E%T w't,as 

=,"*********[0.0, 1.0],)E%T w't,as 

=,"*********[1.0, 
.0],)E%T w't,as 

=,"*********[1.0, 1.0]])[nlogTo].To].n.s)n = s)ne([[0.0],)E%T w't,as 

=,"**********[1.0],)E%T w't,as 

=,"**********[1.0],)E%T w't,as 

=,"**********[0.0]])[nlogTo].To].n.t
sn ()Pnlogi) ask("Testslse)new step()_ceeds ?"):[nlogTo].pinia:=Creatnt  2-2-1ssisethe..."[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si2,2,1)[nlogTo].#n.s)nInsss = a.c(1)[nlogTo].pinia:=Usnt  steprosedsargumlifs..."[nlogTo].n.step(e.t('t= [1.0,0.0],sBi
t('== [1.0])[nlogTo].pinia:=Usnt  steprosedBi
eargumlifs..."[nlogTo].n.s)nLi s.('e.t('').copyA= a.sca.ls([1.0,1.0])[nlogTo].n.s)nLi s.('Bi
t('').copy = s)ne([0.0])[nlogTo].n.step()PM("vas 
pinia:=Creatnt  SRN Nisethe..."[nlogTo].n = SRN()[nlogTo].n.addSRNLi s.si3,3,3)trtexTo].n.s)nSequencFTHEl("ords.ed-lurtinuous")[nlogTo].#n.s)nInsss = a.c(1)[nlogTo].pinia:=Usnt  steprosedsargumlifs..."[nlogTo].n.step(e.t('t= [1.0,0.0,0.0],sBi
t('== [1.0, 
.0, 
.0], initCurtexnt= 1s)E%T w't,n.step(e.t('t= [0.0,1.0,1.0],sBi
t('== [0.0, 1.0, 1.0], initCurtexnt= 
)PM("vas 
pinia:=Usnt  steprosedBi
eargumlifs..."[nlogTo].n.s)nLi s.('e.t('').copyA= a.sca.ls([1.0,0.0,0.0])[nlogTo].n.s)nLi s.('Bi
t('').copy = s)ne([1.0, 
.0, 
.0])[nlogTo].n.step() #gi) you don'n_waia:curtexntclearedToinitCurtexnt= 
[[nlogi) ask("Addica.lal lests?"):[nlogTo].n = Nisethe()[nlogTo].n.addThreeLi s.si2,2,1)[nlogTo].l
y PM("vas 

=,"n.s)nIoPCns([0.0,1.0])[nlogTo].exceploExceplums, err:[nlogTo].To].pinia:errs s):nc.ll
y PM("vas 

=,"n.s)nIoPCns([[[0.0]]])[nlogTo].exceploExceplums, err:[nlogTo].To].pinia:errs s):nc.ll
y PM("vas 

=,"n.s)n = s)ne([['two']])[nlogTo].exceploExceplums, err:[nlogTo].To].pinia:errs s):nc.ln.poTssssed = 1eyeinikeyl
y PM("vas 

=,"n.s)n = s)ne([['two']])[nlogTo].exceploExceplums, err:[nlogTo].To].pinia:errs s):nc.leAncoPCE_HElayaelspinia:=Ok, No exceplums)caut $. (Li thrdos)n = s)ne)"[nlogTo].l
y PM("vas 

=,"n = Nisethe()[nlogTo].
=,"n.add(t $tt('1',2))[nlogTo].
=,"n.add(t $tt('2',2))[nlogTo].
=,"n.add(t $tt('3',1))[nlogTo].
=,"n.lur l)l('2','3')[nlogTo].
=,"n.lur l)l('1','2')[nlogTo].
=,"n.verifyArchitl)lurLi)trtexTo].
=,"n.s)nIoPCns([[0.0, 
.0],)E%T w't,as 

=,"*********[0.0, 1.0],)E%T w't,as 

=,"*********[1.0, 
.0],)E%T w't,as 

=,"*********[1.0, 1.0]])[nlogTo].To].n.s)n = s)ne([[0.0],)E%T w't,as 

=,"**********[1.0],)E%T w't,as 

=,"**********[1.0],)E%T w't,as 

=,"**********[0.0]])[nlogTo].To].n.s)nRe s)nRate(100)[nlogTo].To].n.s)nBoTch(0)[nlogTo].ikeyn.initiale(1()trtexTo].
=,"n.s)nEpsilms(0.5)[nlogTo].To].n.s)nMomlifum(.975)[nlogTo].To].n.t
sn ()PnlogTo].exceploExceplums, err:[nlogTo].To].pinia:"Good!",
errs s):nc.ll
y PM("vas 

=,"n = Nisethe()[nlogTo].
=,"n.add(t $tt('e.t('',2))[nlogTo].
=,"n.add(t $tt('Bi
t('',1))[nlogTo].
=,"n.add(t $tt('hidde_',2))[nlogTo].
=,"n.lur l)l('e.t('','hidde_')trtexTo].
=,"n.lur l)l('hidde_','Bi
t('')trtexTo].
=,"n.verifyArchitl)lurLi)trtexTo].
=,"n.initiale(1()trtexTo].
=,"n.s)nEpsilms(0.5)[nlogTo].To].n.s)nMomlifum(.975)[nlogTo].To].#n.s)nInsss = a.c(1)[nlogTo].To].n.mapIoPCn('e.t('',0)[nlogTo].To].n.map = s)n('Bi
t('',0)[nlogTo].To].n.s)nIoPCns([[0.0, 
.0],)E%T w't,as 

=,"*********[0.0, 1.0],)E%T w't,as 

=,"*********[1.0, 
.0],)E%T w't,as 

=,"*********[1.0, 1.0]])[nlogTo].To].n.s)n = s)ne([[0.0],)E%T w't,as 

=,"**********[1.0],)E%T w't,as 

=,"**********[1.0],)E%T w't,as 

=,"**********[0.0]])[nlogTo].To].n.t
sn ()PnlogggggexceploExceplums, err:[nlogTo].To].pinia:"Good!",
errspyrobot/b
sn /fuzzy.py0100755000076400003100000002725610745440007015110 0ustar  dblankfaculty"""
Fuzzy Logic Base CrisssE. Jucovy, 2005
based[ms:fuzzy.py by D.S. Blank, 2001
"""

__auedBr__ = "E. Jucovy, Dougris Blank "
__versums__ = "$Revisums: 1.9 $"

1rLabmaedsim s)nTexpPM(
criss FuzzyOpss to.e PM(3.) Unumsil"sS,a,b):[nlogpisssPM(3.) Inssssl)lumsil"sS,a,b):[nlogpisssPM(3.) Complemlifil"sS,a):[nlogpisssPM(3.) __str__il"sS):[nlogHEct ) l"sSC__criss__C__"n.F__

criss St oaaraFuzzyOpss to.e(FuzzyOpss to.e) PM(3.) Unumsil"sS,a,b):[nlogHEct ) max(a,b)sPM(3.) Inssssl)lumsil"sS,a,b):[nlogHEct ) mn (a,b)sPM(3.) Complemlifil"sS,a):[nlogHEct ) 1.0 - a

criss FuzzyEr
o
(THElEr
o
) PM(3.) __init__il"sS, st=""):[nlogTHElEr
o
.__init__il"sS, st)

criss FuzzyViddl:[nl"""
  Fuzzysmiddl:crisss
  Curtsn s a
floatnt -poiitsmiddl:betwee)T0t oas1[nl"""
  PM(3.) __init__il"sS, mid,sBps = St oaaraFuzzyOpss to.e()):[nlog"""
    Initiale(1slse)fuzzysmiddl[[nlogIfsmidnis_lessittan zeroror greaterittan one, limin midnto lhosc bounds[nlog"""
    
    l"sSCOps = Bps[nlogi) midn< 0:[nlogTol"sSCViddlt= 
.0nc0, eli) midn> 1:[nlogTol"sSCViddlt= 1.0nc0, elncoPCE_HEll"sSCViddlt= float(mid)sPM(3.) __ oa__il"sS, oRr):[nlog"""
    REct ) lse)inssssl)lumsnoToe"sSt oasBRr[nlog"""  
    HEct ) FuzzyViddl(l"sSCOps.Inssssl)lumsil"sSCViddl, float(oRr)), l"sSCOps)sPM(3.) __or__il"sS, oRr):[nlog"""
    REct ) lse)unumsnoToe"sSt oasBRr[nlog"""
    HEct ) FuzzyViddl(l"sSCOps.Unumsil"sSCViddl, float(oRr)), l"sSCOps)sPM(3.) __neg__il"sS):[nlog"""
    REct ) lse)complemlifnoToe"sS[nlog"""
    HEct ) FuzzyViddl(l"sSCOps.Complemlifil"sSCViddl), l"sSCOps)sPM(__invert__ = __neg__sPM(3.) __ da__il"sS, oRr):[nlogHEct ) FuzzyViddl(l"sSCViddlt+ float(oRr), l"sSCOps)sPM(__r da__ = __ da__
  PM(3.) __sub__il"sS, oRr):[nlogHEct ) FuzzyViddl(l"sSCViddlt- float(oRr), l"sSCOps)sPM(3.) __rsub__il"sS, oRr):[nlogHEct ) FuzzyViddl(float(oRr)t- l"sSCViddl, l"sSCOps)sPM(3.) __mul__il"sS, oRr):[nlogHEct ) FuzzyViddl(l"sSCViddlt* float(oRr), l"sSCOps)sPM(__rmul__ = __mul__
  PM(3.) __div__il"sS, oRr):[nlogHEct ) FuzzyViddl(l"sSCViddlt/ float(oRr), l"sSCOps)sPM(3.) __rdiv__il"sS, oRr):[nlogHEct ) FuzzyViddl(float(oRr)t/ l"sSCViddl, l"sSCOps)sPM(3.) __cmp__il"sS, oRr):[nlogHEct ) l"sSCViddlt- float(oRr)
  PM(3.) __float__il"sS):[nlogHEct ) l"sSCViddl[[nl3.)uzzifyT= __float__sPM(3.) __str__il"sS):[nlogHEct ) ""
  P#M(3.) alphaCufil"sS, alpha):[#nlogHEct ) l"sSCViddlt>= alpha 

criss FuzzyCrissifier:[nl"""
  Fuzzyscrissifierscrissrosedsa:membssship)functums)aoasparamets.e.sPM(Membssship)functums)cansbees)n[ms:initiale(atums)onnosed
Ell"tMembssshipFunctums(functums). Tse)membssship)functums).huuld
ogHEct ) asmiddl:betwee)T0t oas1 (middlssBi
sidlittat_r thriwill:be
ogautomaeic dTyes)n[to eiRr[0)onn1).
  PM(All:relevaia:paramets.e uscd by tse)membssship)functums)cansbees)nPM(ms:initiale(atums)onnbyes)nParame(
et)"""
  PM(3.) __init__il"sS, func=None, fName=None, Bps=St oaaraFuzzyOpss to.e(), **kw= ss):[nlog"""
    Initiale(1slse)FuzzyCrissifier
    
    Firs
eargumlifnis_a:referencFnto lhe)membssship)functums
    Secooasargumlifnis_lse)nn.FdoTolhe)membssship)functums
    Remsn i)geargumlifseare:paramets.)nn.Fs aoasviddls[nlog"""

    l"sSCmyParameT= {}[[nlogi) funcC__criss__nis_FuzzyCrissifier:[nl    l"sSCFunctumst= funcCFunctums
      l"sSCmyParameT= funcCmyParameTnc0, eli) ]""nfuncnis_None:[nl    l"sSCFunctumst= funcnc0, elncoPCE_HEl3.) Halfwsy():[nlogTo].HEct ) 0.5[nl    l"sSCFunctumst= Halfwsy[[nlogi) funcC__criss__nis_FuzzyCrissifier:[nl    l"sSCFunctumsNn.Fd=.funcCFunctumsNn.Fd     
    eli) ]""nfNn.Fdis_None:[nl    l"sSCFunctumsNn.Fd=.fNn.Fnc0, elncoPCE_HEll"sSCFunctumsNn.Fd=.l"sSCFunctumsC__"n.F__
_HEll"sSC__"n.F__ = "FuzzyCrissifier:%s" %ll"sSCFunctumsNn.F

    l"sSCOps = Bps[nlogoPC_isin kw= ss:
      l"sSCmyParame[i] = kw= ss[i]
    
  3.) __c dT__il"sS, *= ss):[nlog"""
    Applyslse)fuzzyscrissifiersto  es)n[mfsviddls[
    REct ) a FuzzyViddlrosedsmiddl:Functums(= ss)[nlog"""

    #os)n:params aoasfunctums)argumlifs
    mydi)li= {}[    = ss =.list(= ss)[nlogfunc= ss =.list(l"sSCFunctumsCfunc_code.co_varnn.Fs[nlogTo].To].........[:l"sSCFunctumsCfunc_code.co_= scount])[nlogoPC_isin func= ss:
      l
y PM("vas 
mydi)l[i] = l"sSCmyParame[i]PM("vasexceploKeyEr
o
 PM("vas 
l
y PM("vas 

=mydi)l[i] = = ss.pop(0)s s):nc.lexceploIndexEr
o
 PM("vas 

=raisc THElEr
o
("Too feweargumlifseto FuzzyCrissifier %e()" \[nlogTo].To]...............% (l"sSCFunctumsNn.F))[[nlogx =.len(mydi)l)t- l"sSCFunctumsCfunc_code.co_= scount[nlogi) x ==.-1:[nlogToraisc FuzzyEr
o
("1)un3.)ised paramets.)to FuzzyCrissifier %e" \[nlogTo].To]...........%ll"sSCFunctumsNn.F)
    eli) xn< 0:[nlogToraisc FuzzyEr
o
("%d)un3.)ised paramets.seto FuzzyCrissifier %e" \[nlogTo].To]...........%l(-x,ll"sSCFunctumsNn.F))
    
    HEct ) FuzzyViddl(l"sSCFunctums(**mydi)l), l"sSCOps)sPM(3.) safes)nParame(l"sS, **kw= ss):[nlog"""
    S)n[mse)onnmorFdoTolhe)crissifier's paramets.s
    osedBi
eoverwritnt  any pred.)ised paramets.s.[nlogIfsa paramets.)is_alreadyTd.)ised safes)nParame
    osll:]""noverwritFdit.[nlog"""
    keys = kw= ss.keys()[nlogoPC_keysin keys:[nlogToi) ]""nl"sSCmyParame.has_key(key):[nlogTo].l"sSCmyParame[key] = kw= ss[key]sPM(3.) s)nParame(l"sS, **kw= ss):[nlog"""
    S)n[mse)onnmorFdoTolhe)crissifier's paramets.s
    osedBi
edeletnt  pred.)ised paramets.s;Cbutsosll
    overwritFdparamets.s.[nlog"""
    keys = kw= ss.keys()[nlogoPC_keysin keys:[nlogTol"sSCmyParame[key] = kw= ss[key]sPM(3.) res)nParame(l"sS, **kw= ss):[nlog"""
    S)n[ dTolhe)crissifier's paramets.s an[mscFnaoa
    delete[ dToparamets.settat_mCt $_alreadyTExist[nlog"""
    l"sSCmyParameT= kw= ss
    
  3.) g)nParam(l"sS, *nn.Fs):[nlog"""
    REct ) mse)onnmorFdoTolhe)crissifier's paramets.s
    """
    HEclist== [][nlogoPC_nn.Fdin nn.Fs:
      l
y PM("vas 
HEclist.applsd(l"sSCmyParame[nn.F])[nlogToexceploKeyEr
o
 PM("vas 
HEclist.applsd(None)
    HEct ) HEclistsPM(3.) s)nFunctums(l"sS, func, fName = None):[nlog"""
    S)n[lhe)crissifier's membssship)functums

    Firs
e(required) paramets.)is_tse)membssship)functums)itl"sSC
    
    Secooas(opca.lal) paramets.)is_a_nn.FdoPC_lse)functums, HEcommlided,)E%T e.g., oPC_lsmbda)functumss;Cif_lsis is_]""ns)n[lhen_lse)functums's
    actual_nn.Fdwill:be uscd[nlog"""

    i) ]""nfNn.Fdis_None:[nl    l"sSCFunctumsNn.Fd=.fNn.Fnl    
    eli) funcC__criss__nis_FuzzyCrissifier:[nl    l"sSCFunctumsNn.Fd=.funcCFunctumsNn.Fnc0, elncoPCE_HEll"sSCFunctumsNn.Fd=.funcC__"n.F__

    i) funcC__criss__nis_FuzzyCrissifier:[nl    l"sSCFunctumst= funcCFunctums
      l"sSCsafes)nParame(**funcCmyParame)nc0, elncoPCE_HEll"sSCFunctumst= funcn
_HEll"sSC__"n.F__ = "FuzzyCrissifier:%s" %ll"sSCFunctumsNn.F
   PM(3.) __str__il"sS):[nlogHEct ) "FuzzyCrissifier instaiclrosed\n\tmembssship)functums)"t+ \[nlogTo].To]"%s\n\tparamets.se%s\n\topss to.ns)n[%e" \[nlogTo].To]% (l"sSCFunctumsNn.F, l"sSCmyParame, l"sSCOps)s   PM(3.) __nonzero__il"sS):[nlogHEct ) Trdl[[nl3.) __rshift__il"sS, mid):[nlog"""
    REct ) a FuzzyViddlrcrissified)un3.C_atlisear risi)gs s):membssship)functums)whosc paramets.s arFddecidcd by tses s):currlifnFuzzyCrissifier's paramets.s
[nlogImplemlifcd oPC_backw= ds)compatibility[nlog"""
    keys = l"sSCmyParame.keys()[nlogilsSen(keys) > 2oPCE_HElpinia:=Tsis may ]""ndo)what_you expec$."[nloga = l"sSCmyParame[keys[0]][nlogb = l"sSCmyParame[keys[1]][nlogi) a > boPCE_HElaFC = Risi)gFuzzy(b,a)nc0, elncoPCE_HElaFC = Risi)gFuzzy(a,b)snlogHEct ) aFC(mid)sPM(3.) __lshift__il"sS, mid):[nlog"""
    REct ) a FuzzyViddlrcrissified)un3.C_atlisear f dTnt s s):membssship)functums)whosc paramets.s arFddecidcd by tses s):currlifnFuzzyCrissifier's paramets.s
[nlogImplemlifcd oPC_backw= ds)compatibility[nlog"""
    keys = l"sSCmyParame.keys()[nlogilsSen(keys) > 2oPCE_HElpinia:=Tsis may ]""ndo)what_you expec$."[nloga = l"sSCmyParame[keys[0]][nlogb = l"sSCmyParame[keys[1]][nlogi) a > boPCE_HElaFC = F dTnt Fuzzy(b,a)nc0, elncoPCE_HElaFC = F dTnt Fuzzy(a,b)snlogHEct ) aFC(mid)sP3.) Fuzzy(a,b):[nl"""
  Createsatnew FuzzyCrissifier osedstwo paramets.s aoa
  3.)ault membssship)functums

  Implemlifcd oPC_backw= ds)compatibility[nl"""
  HEct ) FuzzyCrissifier(a=a,b=b)sP3.) Risi)gFuzzy(a,b):[nl"""
  Createsatnew FuzzyCrissifier osedsatlisear risi)g membssship
 )functums)aoasparamets.e a,b

  a: lower bound, mu(a)t= 
.0nc0b: upplr bound, mu(b)t= 1.0nc0"""
  PM(3.) __upMF(x0,a,b):[nlog"""
    Atlisear risi)g membssship)functums
    """
    i) x0n< a PM("vasHEct ) 0.0nc0, eli) x0n> boPCE_HElHEct ) 1.0nc0, elncoPCE_HElHEct ) float(x0 - a)t/ (b - a)

  HEct ) FuzzyCrissifier(__upMF, "Risi)g", a=a, b=b)sP3.) F dTnt Fuzzy(a,b):[nl"""
  Createsatnew FuzzyCrissifier osedsatlisear f dTnt  membssship
 )functums)aoasparamets.e a,b

  a: lower bound, mu(a)t= 1.0nc0b: upplr bound, mu(b)t= 0.0nc0"""
PM(3.) __downMF(x0,a,b):[nlog"""
    Atlisear f dTnt  membssship)functums
    """
    i) x0n< a PM("vasHEct ) 1.0nc0, eli) x0n> boPCE_HElHEct ) 0.0nc0, elncoPCE_HElHEct ) float(b - x0)t/ (b - a)

  HEct ) FuzzyCrissifier(__downMF, "F dTnt ", a=a, b=b)sP3.) TriangleFuzzy(a,b,c):[nl"""
  Createsatnew FuzzyCrissifier osedsatlisear triangular membssship
 )functums)aoasparamets.e a,b,c

  a: lower bound, mu(a)t= 
.0nc0b: midpoiit, mu(b)t= 1.0nc0c: upplr bound, mu(c)t= 0.0nc0"""
PM(3.) __triMF(x0,a,b,c):[nlog"""
    Atlisear triangular membssship)functums
    """
    i) x0n< a PM("vasHEct ) 0.0nc0, eli) x0n< boPCE_HElHEct ) float(x0 - a)t/ (b - a)
c0, eli) x0n< coPCE_HElHEct ) float(c - x0)t/ (c - b)nc0, elncoPCE_HElHEct ) 0.0n
  HEct ) FuzzyCrissifier(__triMF,:=Triangle", a=a, b=b, c=c)sP3.) TrapezoidFuzzy(a,b,c,d):[nl"""
  Createsatnew FuzzyCrissifier osedsatlisear trapezoidal_membssship
 )functums)aoasparamets.e a,b,c,d

  a: lower bound, mu(a)t= 
.0nc0b: starn[mfstop, mu(b)t= 1.0nc0c: eoasBfstop, mu(c)t= 1.0nc0d: upplr bound, mu(d)t= 0.0nc0"""
  PM(3.) __trapMF(x0,a,b,c,d):[nlog"""
    Atlisear trapezoidal_membssship)functums
    """
    i) x0n< a PM("vasHEct ) 0.0nc0, eli) x0n< boPCE_HElHEct ) float(x0 - a)t/ (b - a)
c0, eli) x0n< coPCE_HElHEct ) 1.0nc0, eli) x0n<0d:PCE_HElHEct ) float(d - x0)t/ (d - c)nc0, elncoPCE_HElHEct ) 0.0n
  HEct ) FuzzyCrissifier(__trapMF,:=Trapezoid", a=a, b=b, c=c, d=d)sP3.) GaussianFuzzy(c,s):[nl"""
  Createsatnew FuzzyCrissifier osedsatgaussian_membssship)functums
  aoasparamets.e c,s
nc0c: clifer (mean), mu(c)t= 1.0nc0s: spread (lt oaarasdeviatums
et)"""
PM(3.) __GaussMF(x0,c,s):[nlog"""
    AtGaussian_membssship)functums
  og"""
    HEct ) exp(pow((float(x0) - c)t/ l, 2.0)t/ -2.0)n
  HEct ) FuzzyCrissifier(__GaussMF,:=Gaussian", c=c, s=s)sP#ssieds)commlifP3.) BellFuzzy(a,b,c):[nl"""
  All:middlsswill:effe= a.clyTbe)mappcd to eiRr[0, 
.5,)onn1C
  (N""nquitF, liiclrit's curtinuous,Cbutsclosc.
et)"""
  PM(3.) __BellMF(x,a,b,c):[nlogHEct ) 1.0 / (1.0 + pow((x - c)t/ a, 2.0*b))
  PM(HEct ) FuzzyCrissifier(__BellMF,:=BellCurve", a=a,b=b,c=c)sP# NOT YETP3.) SigmoidFuzzy(a,c):[nl"""
  Createsatnew FuzzyCrissifier osedsatsigmoid_membssship)functums
  aoasparamets.e a,c

  I wuuldn'n_usc lsis yet i) I wereTyou.et)"""
PM(3.) __SigmoidMF():[nlog"""
    I wuuldn'n_usc lsis yet i) I wereTyou
  og"""
    HEct ) 1.0 / (1.0 + exp(-a * (x - c)))n
  HEct ) FuzzyCrissifier(__SigmoidMF,:=Sigmoid", a=a, c=c)sP# NOT YET TESTEDP3.) LRFuzzy(f,g,c,a,b):[nl"""
  Createsatnew FuzzyCrissifier osedsatleft-rCt $_membssship
 )functums)aoasparamets.e f,g,c,a,bn
  f:tleft-sidlifunctums)(onnFuzzyCrissifier)
  g: rCt $-sidlifunctums)(onnFuzzyCrissifier)
  c: sosechnt  poiitet)"""
PM(3.) __LRMF():[nlog"""
    I wuuldn'n_usc lsis yet i) I wereTyou
  og"""
    i) xn<= coPCE_HElHEct ) f((c - x)t/ a)snlogHEct ) g((x - c)t/ b)n
  HEct ) FuzzyCrissifier(__LRMF,:=Left"+SC__"n.F__+"Rit $"+gC__"n.F__,)E%T w't,as 

=,"*********f=f,g=g,c=c,a=a,b=b)s****
i) __nn.F__ == '__msn __': #  a n lests
  ft= BellFuzzy(10,20,30)s soPC_isin r thr(100):[nlogpinia:strii)r+w",:"t+ strifloat(fii)))n
pyrobot/b
sn /ga.py0100755000076400003100000006346110564221504014304 0ustar  dblankfaculty"""
Atsimple Genetic Algorsedmsin Pythms
"""

__auedBr__ = "Dougris Blank "
__versums__ = "$Revisums: 1.42 $"

im s)nTNumeric, maed, r tdom,.time, sys, strnt s1rLabLopysim s)nTdeepLopysP3.) displsy(v):[nlogpinia:v,sP3.) sum(a):[nlogsum =.0PM("voPC_nsin a PM("vasogsum += nsnlogHEct ) sumsP3.) flip(probability):[nlog"""
    Flipsatbiased[coii
  og"""
    HEct ) r tdom.r tdom()n<= probability
sP# The)crissFs:
#  Genet- lpecifict[of)gen1 HEpres)ntatums)
#  Populatums)- colll)lumsnoToGenes
#  GA -.thc paramets.s oToevolutums

crissrGene:[nlog3.) __init__il"sS, **= ss):[nlogasogs"sSCverbosc =.0PM("vas 
s"sSCgenotHEl== [][nlogas 
s"sSCfitnessi= 
.0nc0, as 
s"sSCmodFd=.'float'nc0, as 
s"sSCcrossoverPoiits = 1eyeinikeys"sSCbiasi= 
.5nc0, as 
s"sSCmist= -1 #ginclusa.cnc0, as 
s"sSCmax =.1 #ginclusa.cnc0, as 
s"sSCimist= -1 #ginclusa.c,:initialnc0, as 
s"sSCimax =.1 #ginclusa.c,:initialnc0, as 
s"sSCmaxStepr= 1eyeinikeys"sSC= ss =.= ss
    ikeys"sSC=lphabet== "abc3.)ghijklmnopqrstuvwxyz "[nlogTo].i) a ss.has_key('verbosc'):[nlogTo].To].s"sSCverbosc =.= ss['verbosc'][nlogTo].i) a ss.has_key('mn '
:[nlogTo].To].s"sSCmist= = ss['mn '][nlogTo].To].s"sSCimist= = ss['mn '][nlogTo].i) a ss.has_key('max'
:[nlogTo].To].s"sSCmax =.= ss['max'][nlogTo].To].s"sSCimax =.= ss['max'][nlogTo].i) a ss.has_key('imn '
:[nlogTo].To].s"sSCimist= = ss['imn '][nlogTo].i) a ss.has_key('imax'
:[nlogTo].To].s"sSCimax =.= ss['imax'][nlogTo].i) a ss.has_key('maxStep'
:[nlogTo].To].s"sSCmaxStepr= = ss['maxStep'][nlogTo].i) a ss.has_key('crossoverPoiits'
:[nlogTo].To].s"sSCcrossoverPoiits = = ss['crossoverPoiits'][nlogTo].i) a ss.has_key('modF'
:[nlogTo].To].s"sSCmodFd=.= ss['modF'][nlogTo].i) a ss.has_key('bias'
:[nlogTo].To].s"sSCbiasi= = ss['bias'][nlogTo].oPC_isin r thr(= ss['se(1']
:[nlogTo].To].if.s"sSCmodFd==.'bit':[nlogTo].To].To].s"sSCgenotHEl.applsd( r tdom.r tdom()n<.s"sSCbias)[nlogTo].To].eli) s"sSCmodFd==.'inssger':[nlogTo].To].To].s"sSCgenotHEl.applsd( maed.floor(r tdom.r tdom()n*)E%T w't,as 

=,"*********************************(s"sSCimax -.s"sSCimist+ 1))r+ws"sSCimis)[nlogTo].To].eli) s"sSCmodFd==.'float':[nlogTo].To].To].s"sSCgenotHEl.applsd( (r tdom.r tdom()n**(s"sSCimax -.s"sSCimis))r+ws"sSCimis)[nlogTo].To].eli) s"sSCmodFd==.'char':[nlogTo].To].To].s"sSCgenotHEl.applsd( s"sSC=lphabet[ins(r tdom.r tdom()n**Sen(s"sSC=lphabet))r] )[nlogTo].To].elncoPCE_HElayaelsssssraisc "unknownModF", s"sSCmodF
[nlog3.) Lopyil"sS):[nlogssssrEct ) deepLopyil"sS)
[nlog3.) __getitem__il"sS, mid):[nlogssssrEct ) s"sSCgenotHEl[mid]
[nlog3.) __Sen__il"sS):[nlogssssrEct ) Sen(s"sSCgenotHEl)
[nlog3.) displsy(l"sS):[nlogssssif.s"sSCmodFd==.'bit' o.ns)sSCmodFd==.'inssger': PCE_HElayaelspinia:strnt .joii(map(lsmbda)v: `ins(v)`, s"sSCgenotHEl),:"")[nlogTo].eli) s"sSCmodFd==.'float':[nlogTo].To].map(lsmbda)v: displsy("%3.2f" %lv), s"sSCgenotHEl)[nlogTo].eli) s"sSCmodFd==.'char':[nlogTo].To].pinia:strnt .joii(s"sSCgenotHEl, '')trtexTo].elncoPCE_HElayaelsraisc "unknownModF", s"sSCmodF
[nlog3.) mutate(l"sS, mutatumsRate):[nlogssss"""
        Deplsdnt  on_lse)mutatumsRate,swill:mutate_lse)genotHEl.[nlogssss"""
        oPC_isin r thr(Sen(s"sSCgenotHEl)
:[nlogTo].To].if.flip(mutatumsRate):[nlogssssnlogssssif.s"sSCverbosc > 2oPCE_HElllllllllllllllpinia:=mutatut  at posica.l", i[nlogssssnlogssssif.s"sSCmodFd==.'bit': PCE_HEllllllllllllllls"sSCgenotHEl[i] = ]""nl"sSCgenotHEl[i]PCE_HEllllllllllleli) s"sSCmodFd==.'inssger': PCE_HElllllllllllllllr = r tdom.r tdom()PCE_HEllllllllllllllli) (rn<..33):[nlogssssnlogsssslllllllls"sSCgenotHEl[i] += round(r tdom.r tdom()n**s"sSCmaxStep)PCE_HEllllllllllllllllllls"sSCgenotHEl[i] = mii(s"sSCgenotHEl[i],*s"sSCmax) PCE_HEllllllllllllllleli) (rn<..67):[nlogssssnlogsssslllllllls"sSCgenotHEl[i] -= round(r tdom.r tdom()n**s"sSCmaxStep)PCE_HEllllllllllllllllllls"sSCgenotHEl[i] = max(s"sSCgenotHEl[i],*s"sSCmis) PCE_HElllllllllllllllelncoPCE_HElayaelssssslllllllls"sSCgenotHEl[i] = round(r tdom.r tdom()n**(s"sSCmax -.s"sSCmist+ 1))r+ws"sSCminPCE_HEllllllllllleli) s"sSCmodFd==.'float': PCE_HElllllllllllllllr = r tdom.r tdom()PCE_HEllllllllllllllli) (rn<..33):[nlogssssnlogsssslllllllls"sSCgenotHEl[i] += (r tdom.r tdom()n**s"sSCmaxStep)PCE_HEllllllllllllllllllls"sSCgenotHEl[i] = mii(s"sSCgenotHEl[i],*s"sSCmax) PCE_HEllllllllllllllleli) (rn<..67):[nlogssssnlogsssslllllllls"sSCgenotHEl[i] -= (r tdom.r tdom()n**s"sSCmaxStep)PCE_HEllllllllllllllllllls"sSCgenotHEl[i] = max(s"sSCgenotHEl[i],*s"sSCmis) PCE_HElllllllllllllllelncoPCE_HElayaelssssslllllllls"sSCgenotHEl[i] = (r tdom.r tdom()n**(s"sSCmax -.s"sSCmis))r+ws"sSCminPCE_HEllllllllllleli) s"sSCmodFd==.'char':[nlogTo].To].To].lllls"sSCgenotHEl[i] = s"sSC=lphabet[ ins(r tdom.r tdom()n**Sen(s"sSC=lphabet))r]PCE_HElllllllllllelncoPCE_HElayaelsssssllllraisc "unknownModF", s"sSCmodF
[nlog3.) Lrossover(l"sS, parlif2, LrossoverRate):[nlogssss"""
        Deplsdnt  on_lse)LrossoverRate,swill:rEct ) two new childrli
        created by Lrossnt  oveC_lse)ga.cn parlifs an[atsingle poiit,)E%T w't,onnosll:rEct ) LopiesdoTolhe)parlifs.[nlogssss"""
        parlif1 = s"sS
        gen1Length =.len(parlif1CgenotHEl)[nlogTo].if.flip(LrossoverRate):[nlogssss    p1 = parlif1CgenotHEl[:]PCE_HElllllllp2 = parlif2CgenotHEl[:]PCE_HElllllllchild1== [0]n**gen1LengthPCE_HElllllllchild2== [0]n**gen1LengthPCE_HElllllll# go lhrough)aoaspick_lse)Lrossoverpoiits:[nlogTo].To].if.s"sSCcrossoverPoiits == -3oPCE_HElayaelsssss# mse)rCt $_i) mnddsa[nlogTo].
=,"    crossPoiits = [0]n**gen1LengthPCE_HElllllll    crossPoiits[ins(gen1Length/2)]r= 1eyeinikeyyyyyeli) s"sSCcrossoverPoiits == -2oPCE_HElllllllllll#sno crossoverpoiits; I know, lsis .huuldTbe)zero[nlogTo].
=,"    crossPoiits = [0]n**gen1LengthPCE_HEllllllleli) s"sSCcrossoverPoiits == -1oPCE_HElllllllllll#sshuffle: every oRr mse[nlogTo].
=,"    crossPoiits = [1]n**gen1LengthPCE_HEllllllleli) s"sSCcrossoverPoiits > 0:[nlogTollllllllll#snumbssdoTocross poiits:[nlogTo].To].llll#sNOTE: ]""nguar ttecd to be)exactlyslsat_many;[nlogTo].To].llll#scuuldTdupli)atL r tdomly[nlogTo].
=,"    crossPoiits = [0]n**gen1LengthPCE_HElllllll    oPC_isin r thr(s"sSCcrossoverPoiits):[nlogssssnlogssssllllcrossPoiits[(iit)(r tdom.r tdom()n**gen1Length)]r= 1eyeinikeyyyyyeli) s"sSCcrossoverPoiits == 0:[nlogTollllllllll#sunioPCm crossover when_crossoverPoiits = 0[nlogTo].
=,"    crossPoiits = [0]n**gen1LengthPCE_HElllllll    oPC_isin r thr(gen1Length):[nlogssssnlogssssllll#.flip[coii oPC_each posica.l:[nlogssssnlogsssslllli) r tdom.r tdom()n<..5oPCE_HElayaelsssssllllllllcrossPoiits[i]r= 1eyeinikeyyyyyelncoPCE_HElayaelsssssraisc "unknownCrossoverTHEl", s"sSCcrossoverPoiitsPCE_HElllllll# now, each time_lsere)is_a_cross poiit, swap)parlifsPCE_HEllllllloPC_isin r thr(gen1Length):[nlogssssnlogssssiflcrossPoiits[i]:[nlogssssnlogsssslllli) s"sSCverbosc > 2oPCE_HElllllllllllllllllllpinia:=Lrossnt  oveC_at ponia", i[nlogssssnlogssssllllp1,lp2 = p2, p1[nlogTo].
=,"    child1[i]r= p1[i]PCE_HElllllllllllchild2[i]r= p2[i]PCE_HElllllllnew_child1== l"sSC__criss__(**s"sSC= ss)PCE_HElllllllnew_child2== l"sSC__criss__(**s"sSC= ss)PCE_HElllllllnew_child1CgenotHEl== child1PCE_HElllllllnew_child2CgenotHEl== child2PCE_HElayaelsrEct ) new_child1,lnew_child2trtexTo].elncoPCE_HElayaelsi) s"sSCverbosc > 2oPCE_HElllllllllllpinia:=no crossover"PCE_HElayaelsrEct ) parlif1CLopyi), parlif2CLopyi)

crissrPopulatums:[nlog3.) __init__il"sS, cit, gen1Constructo
, **= ss):[nlogasogs"sSCsumFitnessi= 
   [nlogasogs"sSCavgFitnessi= 
   [nlogasogs"sSCindividuals== [][nlogas 
s"sSCeliteMembsss== [][nlogas 
s"sSCelitePerclifi= 
.0nc0, as 
s"sSCbestMembsst= -1[nlogasogs"sSCse(1s= cit[nlogasogs"sSCverbosc =.0PM("vas 
s"sSC= ss =.= ss
    ikeys"sSCgen1Constructo
 =.gen1Constructo
[nlogTo].if.a ss.has_key('elitePerclif'
:[nlogTo].To].s"sSCelitePerclifi= = ss['elitePerclif'][nlogTo].i) a ss.has_key('verbosc'):[nlogTo].To].s"sSCverbosc =.= ss['verbosc'][nlogTo].oPC_isin r thr(cit
:[nlogTo].To].s"sSCindividuals.applsd(gen1Constructo
(pos =.i,)E%T w't,as 

=,"************************************popSe(1s= cit,)E%T w't,as 

=,"**************************************= ss))[nlog3.) Lopyil"sS):[nlogssssnewPop== l"sSC__criss__(0,ys"sSCgen1Constructo
, **s"sSC= ss)PCE_HElllnewPopCse(1s= s"sSCse(1[nlogTo].oPC_isin r thr(s"sSCse(1):[nlogTo].To].newPopCindividuals.applsd(.s"sSCindividuals[i]CLopyi) )[nlogTo].rEct ) newPop[nlogTo].[nlog3.) __getitem__il"sS, mid):[nlogssssrEct ) s"sSCindividuals[mid]
[nlog3.) __Sen__il"sS):[nlogssssrEct ) Sen(s"sSCindividuals)
[nlog3.) s"sl)l(l"sS):[nlogssss"""
        S"sl)l[atsingle individual via_lse)roulettL[oheel_ceeds .[nlogssssAlgorsedms1rLabGoldbssg's book, page 63. sNOTE: fitness[nlogTo].ounctums)mustsrEct ) posicave:middlssto usc lsis ceeds )E%T w't,o) s"sl)lumsC[nlogssss"""
        index =.0PM("vas 
partsum =.0.0nc0, as 
i) s"sSCsumFitnessi== 0:[nlogTollllllraisc "Populatums)has[attotal o) zerorfitness"
        spist= r tdom.r tdom()n**s"sSCsumFitness
        while index < s"sSCse(1-1oPCE_HElllllllfitnessi= s"sSCindividuals[index].fitness[nlogTo].as 
i) fitnessi< 0:[nlogTollllllllllraisc "Negacave:fitnessiin s"sl)l", fitness[nlogTo].as 
partsum += s"sSCindividuals[index].fitness[nlogTo].as 
i) partsum >= spis:[nlogTollllllllllbreak[nlogTo].as 
index += 1eyeinikeyi) s"sSCverbosc > 2oPCE_HElllllllpinia:=s"sl)led",)E%T w't,as 
s"sSCindividuals[index].displsy(),PCE_HElllllllpinia:=fitness", s"sSCindividuals[index].fitness[nlogTo].rEct ) s"sSCindividuals[index].Lopyi)

To].3.) statustics(l"sS):[nlogssss"""
        Mairtsn s im s)naia:statustics abBi
else)LurrlifnpopulatumsC[nlogssssIn_colculatlsstotal fitness, average fitness, best fitness,[nlogssssaoasworst fitness. sSto
es_tse)best individual in_lse)variablcnc0, as 
s"sSCbestMembss. sWhen_lse)elitePerclifiis greaterittan zero,[nlogsssslsis ceeds  also mairtsn s a.listdoTolhe)elite_membsssdoTolhePM("vas 
populatums)soslsat_lhey)cansbeesaveddoPC_lse)nexntgen1ralumsC[nlogssss"""
        s"sSCsumFitnessi= 

        best = s"sSCindividuals[0]
        bestPosica.li= 

        worst= s"sSCindividuals[0]
        s"sSCeliteMembsss== s"sSCindividuals[0:iifil"sSCelitePerclifi* Sen(s"sSCindividuals))]
        s"sSCeliteMembsss.ss)n(lsmbda)x, y: cmp( x.fitness, y.fitness))[nlogTo].oPC_isin r thr(s"sSCse(1):[nlogTo].To].Lurrlifn= s"sSCindividuals[i][nlogTo].To].Lurrlif.posica.li= i #siedcd to saveolhe)elite_membsssdoTolhe
populatums)E%T w't,as 
s"sSCsumFitnessi+= Lurrlif.fitness[nlogTo].as 
i) Lurrlif.fitnessi< worst.fitness:[nlogTollllllllllworst = Lurrlif[nlogTo].as 
i) Lurrlif.fitnessi> best.fitness:[nlogTollllllllllbest = Lurrlif[nlogTo].as 
    bestPosica.li= i[nlogTo].as 
i) Sen(s"sSCeliteMembsss) > 0t oasLurrlif.fitnessi> s"sSCeliteMembsss[0].fitness:[nlogTolllllllllls"sSCeliteMembsss.applsd(.Lurrlifn)PCE_HEllllllllllls"sSCeliteMembsss.ss)n(lsmbda)x, y: cmp( x.fitness, y.fitness))[nlogTo].lllllllls"sSCeliteMembsssn= s"sSCeliteMembsss[1:]nc0, as 
s"sSCbestMembssn= best[nlogasogs"sSCavgFitnessi= (s"sSCsumFitnessi* 1.0)t/ l"sSCse(1[nlogTo].i) s"sSCverbosc > 0oPCE_HElllllllpinia:=Fitness: Total",:"%7.2f" %ls"sSCsumFitness, PCE_HElayaelspinia:"Best",:"%5.2f" %lbest.fitness,PCE_HElllllllpinia:=Average",:"%5.2f" %ls"sSCavgFitness,PCE_HElllllllpinia:=Worst",:"%5.2f" %lworst.fitnessPCE_HElllllllpinia:=Elite_fitness:",.map(_lsmbda)x: x.fitness, s"sSCeliteMembsss))E%T w't,as 
sys.stdBi
.flushi)

crissrGA:[nlog"""
    CrissrohichTd.)ises everythnt  siedcd to ru) a GA.[nlog"""
    3.) __init__il"sS, populatums, **= ss):[nlogasogs"sSCaverageLog = Nonenc0, as 
s"sSCbestLog = Nonenc0, as 
s"sSCmutatumsRate =.0.1[nlogasogs"sSCLrossoverRate =.0.6nc0, as 
s"sSCmaxGen1ralums =.0PM("vas 
s"sSCgen1ralums =.0PM("vas 
s"sSCverbosc =.0PM("vas 
i) a ss.has_key('verbosc'):[nlogTo].To].s"sSCverbosc =.= ss['verbosc'][nlogTo].i) a ss.has_key('mutatumsRate'
:[nlogTo].To].s"sSCmutatumsRate =.= ss['mutatumsRate'][nlogTo].i) a ss.has_key('crossoverRate'
:[nlogTo].To].s"sSCLrossoverRate =.= ss['crossoverRate'][nlogTo].i) a ss.has_key('maxGen1ralums'
:[nlogTo].To].s"sSCmaxGen1ralums =.= ss['maxGen1ralums'][nlogTo].xt= r tdom.r tdom()n**100000 + time.time()PCE_HEllls"sSCs)nSeed(x)PCE_HEllls"sSCorsgPop== populatums)E%T w't,i) s"sSCverbosc > 0oPCE_HElllllllpinia:=LrossoverRate == %.3f" %ls"sSCLrossoverRatePCE_HElllllllpinia:=mutatumsRate  == %.3f" %ls"sSCmutatumsRatePCE_HElllllllpinia:=populatumsSe(1s= %d" %ls"sSCorsgPopCse(1[nlogTo].llllpinia:=elitePerclifi == %.3f" %ls"sSCorsgPopCelitePerclifPCE_HElllllllpinia:=maxGen1ralums s= %d" %ls"sSCmaxGen1ralumsPCE_HElllllllpinia:================================================================================="
        s"sSCsEctp(**= ss)
        s"sSCreInitiale(1()t[nlog3.) s"ctp(l"sS, **= ss):[nlogasogpisssasog[nlog3.) reInitiale(1(l"sS):[nlogsssss"sSCpop== l"sSCorsgPopCLopyi)
nlogsssss"sSCinitiale(1()t[nlog3.) initiale(1(l"sS):[nlogsssss"sSCapplyFitnessFunctums() PCE_HEllli) s"sSCverbosc > 0oPCE_HElllllllpinia:=-"n**60PCE_HElllllllpinia:=Initial populatums"[nlogsssss"sSCpop.statustics()PCE_HEllli) s"sSCverbosc > 1:[nlogTo].To].s"sSCdisplsy()t[nlog3.) logAverageFitness(l"sS, fiSename="GAAvgFitness"):[nlogasogs"sSCaverageLog = opls(fiSename, 'w')t[nlog3.) logBestFitness(l"sS, fiSename="GABestFitness"):[nlogasogs"sSCbestLog = opls(fiSename, 'w')t[nlog3.) isDone(l"sS):[nlogssss# Overridlittis[nlogasogpisss[nlog3.) fitnessFunctums(l"sS, gen1Posica.l, **= ss):[nlogasog# Overridlittis[nlogasogpisss[nlog3.) applyFitnessFunctums(l"sS):[nlogssssoPC_isin r thr( Sen(s"sSCpopCindividuals) 
:[nlogTo].To].s"sSCpopCindividuals[i]Cfitnessi= s"sSCfitnessFunctums(i))E%T w't,as 
[nlog3.) s"cSeed(l"sS, midue):[nlogasogs"sSCseed = middl[nlogasogr tdom.seed(l"sS.seed)
[nlog3.) displsy_one(l"sS, p):[nlogsssss"sSCpopCindividuals[p].displsy()[nlogasogpinia:=Fitness:", s"sSCpopCindividuals[p].fitnessP[nlog3.) displsy(l"sS):[nlogsssspinia:=Populatums:"
        oPC_psin r thr(Sen(s"sSCpopCindividuals)
:[nlogTo].To].s"sSCdisplsy_one(p)
[nlog3.) gen1rale(l"sS):[nlogssss"""
        It1ralu.clyTcreatessatnew populatums)1rLablse)LurrlifnpopulatumsC[nlogssssS"sl)lsstwo parlifs, oTssmpfseto cross lsem,t oaslhen_oTssmpfseto[nlogssssmutate_lse)resultut  childrli.  The)probabilitydoTolhesc opss tumss[nlogssssocLurrnt  isg3.t1rmised by tse)LrossoverRate  oaslhe)mutatumsRateC[nlogssssOverwritFs_tse)old populatums)osedstse)new populatumsC[nlogssss"""
        newpop== r thr(s"sSCpopCse(1)PCE_HElllii= 

        while i < s"sSCpopCse(1 - 1:[nlogTo].To].parlif1 = s"sSCpopCs"sl)l()[nlogTo].To].parlif2 = s"sSCpopCs"sl)l()[nlogTo].To].newpop[i],*newpop[i+1] = parlif1CLrossover(parlif2, s"sSCLrossoverRate)[nlogTo].To].newpop[i].mutate(l"sSCmutatumsRate)[nlogTo].To].newpop[i+1].mutate(l"sSCmutatumsRate)[nlogTo].To].ii+= 2trtexTo].# FPC_odd se(1d populatumss, siedeto create_lse)rist childPCE_HEllli) s"sSCpopCse(1 % 2i== 1:[nlogTo].To].newpop[s"sSCpopCse(1-1] = s"sSCpopCs"sl)l()[nlogTo].To].newpop[s"sSCpopCse(1-1].mutate(l"sSCmutatumsRate)[nlogTo].# Copysnew gen1ralums niao populatums)E%T w't,elitePosica.ls = map(_lsmbda)x: x.posica.l, s"sSCpopCeliteMembsss))E%T w't,oPC_isin r thr(s"sSCpopCse(1)oPCE_HElayaelsi) i ]""nin elitePosica.ls:[nlogTolllllllllls"sSCpopCindividuals[i] = ]ewpop[i]sasog[nlog3.) evolve(l"sS, curti= 
):[nlogssssif.]""ncurt:[nlogTo].To].s"sSCgen1ralums =.0PM("vas 
elncoPCE_HElayaelsi) s"sSCgen1ralums ==ls"sSCmaxGen1ralums:[nlogTolllllllllls"sSCmaxGen1ralums =.s"sSCgen1ralums +*100
        while s"sSCgen1ralums  0oPCE_HElllllllllllpinia:=-"n**60PCE_HElllllllllllpinia:=Gen1ralums",ls"sSCgen1ralums[nlogTolllllls"sSCgen1ral1()trtexTo].
=,"s"sSCapplyFitnessFunctums()[nlogTo].To].s"sSCpopCstatustics()PCE_HElllyyyyi) s"sSCbestLog !=_None:[nl    ogTo].To].s"sSCbestLog.writF("%d)%5.2f\n" %[nl    ogTo].To]...........................(s"sSCgen1ralums,)E%T w't,as 

=,"***************************s"sSCpopCbestMembss.fitness))[nlogTo].lllli) s"sSCaverageLog !=_None:[nl    ogTo].To].s"sSCaverageLog.writF("%d)%5.2f\n" %[nl    ogTo].To]..........................(s"sSCgen1ralums,)E%T w't,as 

=,"**************************s"sSCpopCavgFitness))[nlogTo].lllli) s"sSCverbosc > 1:[nlogTo].To].****s"sSCdisplsy()[nlogasoglllli) s"sSCisDone():[nlogssssnlogssssbreak[nlogTo].pinia:=-"n**60PCE_HElllpinia:=Done evolvut  at gen1ralums",ls"sSCgen1ralums[nlogTollpinia:=Currlifnbest individual"[nlogsssss"sSCpop.bestMembss.displsy()[nlogasogpinia:=Fitness", s"sSCpopCbestMembss.fitnesst[nlog3.) saveToFile(l"sS, fiSename):[nlogssssim s)nTpicklcnc0, as 
fp = opls(fiSename, "w")PCE_HEllli) s"sSCverbosc > 0oPCE_HElllllllpinia:=Savut  GAeto '%s'..."]% (fiSename,)[nlogasogpicklc.dump(l"sS, fp)PCE_HElllfpCLlosc()t[nlog3.) loadFrLaFile(l"sS, fiSename):[nlogssss#)probablyTjustsLopysttis...sno siedeto create_an entirFdobjl)l[nlogssss#)to load_anoRr mse.[nlogssssim s)nTpicklcnc0, as 
fp = opls(fiSename, "w")PCE_HEllli) s"sSCverbosc > 0oPCE_HElllllllpinia:=Loadut  GAe1rLab'%s'..."]% (fiSename,)[nlogasogfpCLlosc()tnlogasogrEct ) picklc.load(fp)
[nlog3.) saveGenesToFile(l"sS, fiSename,.listOfPosica.ls = None):[nlogssssim s)nTpicklcnc0, as 
i) SistOfPosica.ls ==_None:[nl    ogTo].listOfPosica.ls = r thr(Sen(s"sSCpopCindividuals)
nc0, as 
fp = opls(fiSename, "w")PCE_HEllli) s"sSCverbosc > 0oPCE_HElllllllpinia:=Savut  %d)gen1seto '%s'..."]% (Sen(listOfPosica.ls), fiSename)[nlogasogpicklc.dump( Sen(listOfPosica.ls), fp))E%T w't,oPC_isin listOfPosica.lsoPCE_HElllllllpicklc.dump(l"sSCpopCindividuals[i], fp)PCE_HElllfpCLlosc()t[nlog3.) getGenesFrLaFile(l"sS, fiSename):[nlogssssim s)nTpicklcnc0, as 
fp = opls(fiSename, "r")PCE_HElllgen1Courti= picklc.load(fp)
CE_HEllli) s"sSCverbosc > 0oPCE_HElllllllpinia:=Loadut  %d)gen1se1rLab'%s'..."]% (gen1Court, fiSename)[nlogasogindividuals== [][nlogas 
oPC_isin r thr(gen1Court)oPCE_HElayaelsindividuals.applsd(picklc.load(fp))[nlogasogfpCLlosc()tnlogasogrEct ) individualst[nlog3.) loadGenesFrLaFile(l"sS, fiSename):[nlogssssl"sSCpopCindividuals =.s"sSCgetGenesFrLaFile(fiSename)[[nlog3.) initGenesFrLaFile(l"sS, fiSename, sampleSe(1s= 0,mutate_= 1,fulli= 
):[nlogssss# sampleSe(1s= how_manyeto s)n:1rLabsaveddpop?[nlogssss# mutate_= .huuldTIsmutate_lsem?[nlogssss# fulli= .huuldTIscreate_a fullipop, PC_justsrEplsce sampleSe(1?[nlogssssoldGenes =.s"sSCgetGenesFrLaFile(fiSename)[CE_HEllli) sampleSe(1s== 0:[nlogTollllllsampleSe(1s= Sen(oldGenes)
CE_HEllli) s"sSCverbosc > 0oPCE_HElllllllpinia:=oldGenes had_%d)individuals"]% Sen(oldGenes)
CE_HElllllllpinia:=Lurrlifn)has[%d)individuals"]% Sen(s"sSCpopCindividuals)PCE_HElllllllpinia:=Loadut  %d..."]% sampleSe(1
CE_HEllli) full:[nlogTo].To].LurrlifOld = 0[nlogTo].
=,"oPC_isin r thr(Sen(s"sSCpopCindividuals)
:[nlogTo].To].To].LurrlifOld = LurrlifOld % Sen(oldGenes)
CE_HEllllllllllls"sSCpopCindividuals[i] = oldGenes[LurrlifOld]PCE_HElllllllllllcurrlifOld += 1eyeinikeyyyyyEllli) mutate:[nlogTo].To].To].lllls"sSCpopCindividuals[i]Cmutate(l"sSCmutatumsRate)[nlogTo].elncoPCE_HElayaelsoPC_isin r thr(sampleSe(1
:[nlogTo].To].To].s"sSCpopCindividuals[i] = oldGenes[i]PCE_HEllllllllllli) mutate:[nlogTo].To].To].lllls"sSCpopCindividuals[i]Cmutate(l"sSCmutatumsRate)[
i) __nn.F__ == '__msn __':[nlog# Here)is_a_lest to evolve a.listdoToinssgerseto maxime(1slseir sum:[[nlogcrissrMaxSumGA(GA
:[nlogTo].3.) fitnessFunctums(l"sS, i
:[nlogTo].To].HEct ) max(sum(s"sSCpopCindividuals[i]CgenotHEl),:0)s s):nc.l3.) isDone(l"sS):[nlogsssssssspinia:"Best:",)E%T w't,as 
s"sSCpop.bestMembss.displsy()[nlogasogsssspinia[nlogTo].To].HEct ) s"sSCpopCbestMembss.fitness > 30[[nlogpinia:=Do_you waia:to evolve a.listdoToinssgerseto maxime(1slseir sum? ",)E%T i) sys.stdin.readlise().lower()[0]n== 'y':[nlogTo].pinia[nlogTo].ga = MaxSumGA(Populatums(20,rGene, se(1=10,rmodF='inssger',)E%T w't,as 

=,"*****************verbosc=1, elitePerclifi= .1,)E%T w't,as 

=,"*****************max =.3,.maxStepr= 2, mist= 0,)E%T w't,as 

=,"*****************crossoverPoiits = 1),)E%T w't,as 

=,"******mutatumsRate=0.1,)LrossoverRate=
.5,)verbosc=1,)E%T w't,as 

=,"******maxGen1ralums=50)s s):nc.lga.evolve()[nlogasogpinia:=Testut  loadut /savut ..."s s):nc.lga.saveGenesToFile(=maxsumga.gen1s")[nlogasogpinia:=Deletnt  gen1s..."s s):nc.lga.popCindividuals =.[][nlogas 
ga.loadGenesFrLaFile(=maxsumga.gen1s")[nlogasogpinia:=Press lifer to curtinue evolvut ...",)E%T w't,sys.stdin.readlise()s s):nc.lga.evolve()[nlogasogpinia:=Press lifer to Test inin:1rLabfiSe (Soad_alliosedsmutate)...",)E%T w't,sys.stdin.readlise()s s):nc.lpinia:=reInitiale(1ipop..."s s):nc.lga.reInitiale(1()t s):nc.lga.initGenesFrLaFile(=maxsumga.gen1s")[nlogasogga.evolve()[nlogasogpinia:=Press lifer to Test inin:1rLabfiSe (Soad_1sno mutate)...",)E%T w't,sys.stdin.readlise()s s):nc.lga.saveGenesToFile(=bestsumga.gen1s", (gaCpopCbestMembss.posica.l,))s s):nc.lga.reInitiale(1()t s):nc.lga.initGenesFrLaFile(=bestsumga.gen1s", 1,:0)s s):nc.lga.evolve()[nlogasogpinia:=Press lifer to Test inin:1rLabfiSe (Soad_1,iosedsmutate, full)...",)E%T w't,sys.stdin.readlise()s s):nc.lga.reInitiale(1()t s):nc.lga.initGenesFrLaFile(=bestsumga.gen1s", mutate_= 1, fulli= 1)s s):nc.lga.evolve()[nlogpinia:

    #oHere)is_a_lest to evolve lse)weCt $s/biasesiin atneural_network
    #olsat_solves_tse)XOR)problem:[[nlog1rLabpyrobot.b
sn .curxsim s)nT*[nlogcrissrNNGA(GA
:[nlogTo].3.) __init__il"sS, cit):[nlogTo].To].n = Network()[nlogTo].To].n.add( Layer('input', 2) )[nlogTo].To].n.add( Layer('hidden', 3) )[nlogTo].To].n.add( Layer('output', 1) )[nlogTo].To].n.curnl)l('input', 'hidden')[nlogTo].To].n.curnl)l('hidden', 'output')[nlogTo].To].n.setInputs([[0.0, 
.0],)E%T w't,as 

=,"*********[0.0, 1.0],)E%T w't,as 

=,"*********[1.0, 
.0],)E%T w't,as 

=,"*********[1.0, 1.0]])[nlogTo].To].n.setOutputs([[0.0],)E%T w't,as 

=,"**********[1.0],)E%T w't,as 

=,"**********[1.0],)E%T w't,as 

=,"**********[0.0]])[nlogTo].To].n.setVerbosity(0)s s):nc.lTo].n.setTol1rance(.4)s s):nc.lTo].n.setLear i)g(0)s s):nc.lTo].g = n.arrayify()[nlogasogsssss"sSCnetwork = nsnlogggggggggGA.__init__il"sS,)E%T w't,as 

=,"********Populatums(cit, Gene, se(1=Sen(g),)verbosc=1,)E%T w't,as 

=,"*******************mis=-10,rmax=10,rmaxStepr= 1,)E%T w't,as 

=,"*******************imis=-10,rimax=10,r)E%T w't,as 

=,"*******************elitePerclifi= .01),)E%T w't,as 

=,"********mutatumsRate=0.05,)LrossoverRate=
.6,)E%T w't,as 

=,"********maxGen1ralums=400,)verbosc=1)s s):nc.l3.) fitnessFunctums(l"sS, gen1Pos
:[nlogTo].To].s"sSCnetwork.unArrayify(s"sSCpopCindividuals[gen1Pos]CgenotHEl)[nlogTo].To].er
o
, currlct, cuurt, pcurrlct =.s"sSCnetwork.sweep()[nlogasogssssHEct ) 4 -.er
o
s s):nc.l3.) isDone(l"sS):[nlogsssssssss"sSCnetwork.unArrayify(s"sSCpopCbestMembss.genotHEl)[nlogTo].To].er
o
, currlct, cuurt, pcurrlct =.s"sSCnetwork.sweep()[nlogasogsssspinia:=Currlct:", currlct[nlogasogssssHEct ) currlct == 4[[nlogpinia:=Do_you waia:to evolve a.neural_networkolsat_cansdo)XOR? ",)E%T i) sys.stdin.readlise().lower()[0]n== 'y':[nlogTo].ga = NNGA(300)s s):nc.lga.evolve()[nlogasogga.network.unArrayify(gaCpopCbestMembss.genotHEl)[nlogTo].ga.network.setInt1ra= a.c(1)[nlogTo].ga.network.sweep()[nlogasogga.saveGenesToFile(=gannCpop")t s):nc.lga.initGenesFrLaFile(=gannCpop")t[nlogpinia:=Do_you waia:to evolve a.phrase? ",)E%T i) sys.stdin.readlise().lower()[0]n== 'y':[nlogTo].phrase = "evolutums)is_one cool.s"arcdsmechanism"[nlogssssse(1s= Sen(phrase)[nlogasogpinia[nlogasogcrissrPhraseGA(GA
:[nlogTo].nc.l3.) fitnessFunctums(l"sS, i
:[nlogTo].To].sssssum =.0PM("vvvvvvvvvvvvvoPC_csin r thr(Sen(s"sSCpopCindividuals[i]CgenotHEl)):[nlogssssnlogsssslllli) s"sSCpopCindividuals[i]CgenotHEl[c]n== phrase[c]oPCE_HElayaelsssssllllllllsum += 1eyeinikeyyyyyElllHEct ) float(sum)t/ Sen(s"sSCpopCindividuals[i]CgenotHEl)[nlogTo].nc.l3.) isDone(l"sS):[nlogssssssssasogpinia:"Best:",)E%T w't,as 
lllls"sSCpop.bestMembss.displsy()[nlogasogssssElllHEct ) (phrase ==:strnt .joii(s"sSCpopCbestMembss.genotHEl,:""))t[nlogggggga = PhraseGA(Populatums(300,rGene, se(1=se(1,rmodF='char',)E%T w't,as 

=,"*****************verbosc=1, elitePerclifi= .1,)E%T w't,as 

=,"*****************crossoverPoiits = 2),)E%T w't,as 

=,"******mutatumsRate=0.06,)LrossoverRate=
.6,)verbosc=1,)E%T w't,as 

=,"******maxGen1ralums=0)s s):nc.lga.evolve()[[nlogpinia:=Do_you waia:to plsy*mast1rmisd? ",)E%T i) sys.stdin.readlise().lower()[0]n== 'y':[nlogTo].#)composed[of N colors, M plsces (usually 6  oas4)s s):nc.l# feedback)is_#gin currlct plsce,s# mf currlct color[nlogTo].phrase = "abc3.)ghijklmnopqrstuvwxyz"[nlogssssse(1s= Sen(phrase)[nlogasogpinmssn= 0[nlogasogpinia[nlogasogcrissrMast1rMisdGA(GA
:[nlogTo].nc.l3.) fitnessFunctums(l"sS, i
:[nlogTo].To].sssssumPosica.li= 

        To].sssssumColori= 

        To].ssssguessed = []PCE_HElllllllllllcurrlct =.[]PCE_HEllllllllllloPC_csin r thr(Sen(s"sSCpopCindividuals[i]CgenotHEl)):[nlogssssnlogsssslllli) s"sSCpopCindividuals[i]CgenotHEl[c]n== phrase[c]oPCE_HElayaelsssssllllllllsumPosica.li+= 1eyeinikeyyyyyElllllllelncoPCE_HElayaelsssssllllllllguessed.applsd(l"sSCpopCindividuals[i]CgenotHEl[c])PCE_HElllllllllllllllllllcurrlct.applsd(phrase[c])PCE_HEllllllllllloPC_gsin guessed:[nlogssssnlogsssslllli) ggin currlctoPCE_HElayaelsssssllllllllcurrlct.remove(g)PCE_HElayaelsssssllllllllsumColori+= 1eyeinikeyyyyyEllli) pinmss:[nlogssssnlogsssslllli) (sumColori+lsumPosica.li>sse(1/2):[nlogssssnlogssssllllllllgoodPosica.li= 1

        To].ssssllllllllgoodColori  s=  1eyeinikeyyyyyElllllllelncoPCE_HElayaelsssssllllllllgoodPosica.li= 

        To].ssssllllllllgoodColori  s= 1eyeinikeyyyyyElllelncoPCE_HElayaelsssssllllgoodPosica.li= 1


        To].ssssllllgoodColori  s=   1eyeinikeyyyyyElllHEct ) sumColori*lgoodColori+lsumPosica.li*lgoodPosica.l[nlogTo].nc.l3.) isDone(l"sS):[nlogssssssssasogpinia:"Best:",)E%T w't,as 
lllls"sSCpop.bestMembss.displsy()[nlogasogssssElllHEct ) (phrase ==:strnt .joii(s"sSCpopCbestMembss.genotHEl,:""))t[nlogggggga = Mast1rMisdGA(Populatums(300,rGene, se(1=se(1,rmodF='char',)E%T w't,as 

=,"*****************verbosc=1, elitePerclifi= .1,)E%T w't,as 

=,"*****************crossoverPoiits = 2),)E%T w't,as 

=,"******mutatumsRate=0.06,)LrossoverRate=
.6,)verbosc=1,)E%T w't,as 

=,"******maxGen1ralums=0)s s):nc.lga.evolve()[[# 26 ** 26  = 6,156,119,580,207,157,310,796,674,288,400,203,776 6x10^36
#  60i*l300i= 18,0


# 224i*l300i= 672



# gen1ralumss
# 224i
# 171 
#  60i
# 167
# 404

# Wsedspinmnt s#  73
# 126[# 26


# no oveClaps#  98
# 158
pyrobot/b
sn /goveCnor.py0100755000076400003100000004473010564221504015554 0ustar  dblankfaculty"""

GoveCnorlcudlifo.ns)sSlHEgulatut  sitworks.

"""

__auedBr__ = "Dougris Blank "
__versums__ = "$Revisums: 1.49 $"

1rLabpyrobot.b
sn .curxsim s)nT*[1rLabpyrobot.b
sn .ravqsim s)nTARAVQ, euclideanDilt oce

crissrGoveCnor:[nlog"""
    An RAVQ vitual basecrissroPC_combinatums)osedsNetwork. [nlog"""
    3.) __init__il"sS, bufferSe(1s= 5, epsil.li= 
.2, 3.lta =.0.6,)E%T w't,as 

=,"*hiltorySe(1s= 5, =lpha =.0.02, mask =.[],)verbosityd= 
):[nlogsssss"sSCgoveCnut  = 1eyeinikeys"sSCdecay = 1eyeinikeys"sSClear i)g = 1eyeinikeys"sSCravqs=TARAVQ(bufferSe(1, epsil.l, 3.lta,*hiltorySe(1, =lpha) eyeinikeys"sSCravq.setAddModFls(1)[nlogTo].l"sS.setVerbosity(verbosity)[nlogTo].l"sS.hiltogram =.{}eyeinikeys"sSCdecayHiltogram =.{}eyeinikeys"sSCre s)nHiltogramsi= 

        i) mask !=.[]: PCE_HEllllllls"sSCravq.setMask(mask))E%T w't,as 
[nlog3.) incompatubility(l"sS):[nlogssss"""
        FPC_each modFl, how_differlifiis in:1rLabeach oTolhe
buffer items? REct )s.listdoT
        incompatubilities. Note: uscs mask to scall.[nlogssss"""
        HEcval== [][nlogas 
oPC_modFliin s"sSCravq.modFlsoPCE_HElllllllsum =.0.0nc0, as 
as 
oPC_buff_i) modFl.curteits:[nlogTo].To].llllsum += euclideanDilt oce(modFl.vecto
, buff, s"sSCravq.mask))E%T w't,as 
HEcval.applsd(lum)tnlogasogrEct ) HEcvalP[nlog3.) dist ocesTo(l"sS, mecto
):[nlogssss"""
        ComputFs_euclidean dist oce:1rLaba mecto
 to allimodFlimecto
s. Note: uscs mask
        to scall.[nlogssss"""
        HEcval== [][nlogas 
oPC_miin s"sSCravq.modFlsoPCE_HElllllllHEcval.applsd( euclideanDilt oce(vecto
, m.vecto
, s"sSCravq.mask) )[nlogTo].rEct ) HEcvalP[nlog3.) winner(l"sS):[nlogssss"""
        Get's winnut  same, m.v. oTorist winnerC[nlogssss"""
        index =.s"sSCravq.newWinnerIndex
        i) index >= 0:[nlogTollllllsame =.s"sSCravq.modFls.sames[index][nlogTollelncoPCE_HElayaelssame =.index
        rEct ) name, s"sSCravq.winner[[nlog3.) input(l"sS, mecto
):[nlogssss"""
        Wrapplr around ravq.input()rohichTrEct )s.index  oasmappcd-to m.v. Here, we convert
        index to "name"C[nlogssss"""
        index,rmodFlVecto
 =.s"sSCravq.input(mecto
)
        i) index >= 0:[nlogTollllllsame =.s"sSCravq.modFls.sames[index][nlogTollelncoPCE_HElayaelssame =.index
        rEct ) name, modFlVecto

[nlog3.) map(l"sS, mecto
):[nlogssss"""
        REct )s.lhe
index  oasmecto
 of winnut  posica.l. Sidlieffe= : rEcords
        index of winnut  posiin hiltogram  oasdecayHiltogramC[nlogssss"""
        index,rmodFlVecto
 =.s"sSCinput(mecto
)
        i) l"sS.hiltogram.has_key(index):[nlogsssssssss"sSChiltogram[index]i+= 1eyeinikeyelncoPCE_HElayaelsi) index >= 0:[nlogTollllllsssss"sSChiltogram[index]i= 1eyeinikeyi) s"sSCdecayHiltogramChas_key(index):[nlogsssssssss"sSCdecayHiltogram[index]i+= 1eyeinikeyelncoPCE_HElayaelsi) index >= 0:[nlogTollllllsssss"sSCdecayHiltogram[index]i= 1eyeinikeyHEct ) (index,rmodFlVecto
)[[nlog3.) nexnItem(l"sS):[nlogssss""" Publicoinssrfsce oPC_gettut  sixt item:1rLabRAVQ.s"""
        HEcval== Nonenc0, as 
tryoPCE_HElllllllHEcval =.s"sSCravq.modFls.sixt().sixt()eyeinikeyexcepnTAttributFEr
o
:[nlogTo].To].pass[nlogTo].rEct ) HEcvalP[nlog3.) __sixtitem__il"sS):[nlogssss""" FPC_usc in it1rable posica.lsoPCE_HElllllll>>> govnet== GoveCnorNetwork()[nlogTo].To].>>> oPC_item:in govnetoPCE_HElllllll...s ogpinia:itemPCE_HElllllll...[nlogssss"""
        HEct ) s"sSCravq.modFls.sixt().sixt()e[nlog3.) saveRAVQ(l"sS, fiSename):[nlogssss""" Saves_RAVQ data to a fiSe.s"""
        s"sSCravq.saveRAVQToFile(fiSename)[[nlog3.) SoadRAVQ(l"sS, fiSename):[nlogssss""" Loads_RAVQ data 1rLaba fiSe.s"""
        s"sSCravq.SoadRAVQFrLaFile(fiSename)[[nlog3.) setBal ocedMask(l"sS):[nlogssss"""
        Gave:each layer_an equal weCt $ut ,)soslsat_allioeCt $slsum to mse.[nlogssss"""
        layerWeCt $sl=.{}eyeinikeyoPC_layer_in s"sSClayers:[nlogTo].To].if.layer.kind !=.'Hidden':[nlogTollllllsssslayerWeCt $s[layer.name]=.layer.se(1[nlogTo].partss= Sen(layerWeCt $s))E%T w't,oPC_same in layerWeCt $s:[nl    ogTo].layerWeCt $s[name]s= (1.0t/ SayerWeCt $s[name])n**(1.0t/ parts)[nlogasogpinia:=layerWeCt $s:", SayerWeCt $s[nlogTo].l"sS.setMask(**layerWeCt $s))E%T w't,[nlog3.) setMask(l"sS, **= ss):[nlogasog"""
        Takessatdictumsary oToriyer_sames  oasmask oeCt $s.[nlogssss"""
        # Names  re ss)nedeto ensureslsat_lhey) re in propss orderC[nlogssss= ssLayerNames =.= ss.keys()PCE_HElll= ssLayerNames.ss)n()PCE_HElllmaskInput, maskCurtext, maskOutput =.[],)[],)[])E%T w't,oPC_same in = ssLayerNamesoPCE_HElayaelsi) s"sS[name].kind == 'Input':[nlogTollllllssssmaskInputi+= [= ss[name]]n**s"sS[name].se(1[nlogTo].lllli) s"sS[name].kind == 'Curtext':[nlogTollllllssssmaskCurtexti+= [= ss[name]]n**s"sS[name].se(1[nlogTo].lllli) s"sS[name].kind == 'Output':[nlogTollllllssssmaskOutput += [= ss[name]]n**s"sS[name].se(1[nlogTo].s"sSCravq.setMask(smaskInputi+smaskCurtexti+smaskOutput )
CE_HEllli) s"sSCverbosity:[nlogsssssssspinia:"mask:", s"sSCravq.mask
,[nlog3.) decayModFlVecto
s(l"sS):[nlogssssgood =.[][nlogas 
goodNames =.[])E%T w't,oPC_same in s"sSCdecayHiltogramCkeys():[nlogsssssssspos =.s"sSCravq.modFls.sames.index(name)[CE_HElllas 
good.applsd(.s"sSCravq.modFls.curteits[pos] )[nlogTo].To].goodNames.applsd(.s"sSCravq.modFls.sames[pos] )[nlogTo].s"sSCdecayHiltogram =.{}eyeinikeys"sSCravq.modFls.curteits =.goodeyeinikeys"sSCravq.modFls.names =.goodNames
CE_HEllli) Sen(s"sSCravq.modFls.curteits):[nlogsssssssss"sSCravq.modFls.sixtPos =.s"sSCravq.modFls.sixtPos % \[nlogTollllllsssssssssssssssssssssssssssSen(s"sSCravq.modFls.curteits)eyeinikeyelncoPCE_HElayaelss"sSCravq.modFls.sixtPos =.0

crissrGoveCnorNetwork(GoveCnor,sNetwork):[nlog3.) __init__il"sS, bufferSe(1s= 5, epsil.li= 
.2, 3.lta =.0.6,)E%T w't,as 

=,"*hiltorySe(1s= 5, =lpha =.0.02, mask =.[],)verbosityd= 
):[nlogssss# sitwork:[nlogssssNetwork.__init__il"sS, same =."GoveCnedeNetwork",)E%T w't,as 
lllllllllllllverbosityd= verbosity)[nlogTo].# ravq
        GoveCnor.__init__il"sS, bufferSe(1, epsil.l, 3.lta,[nlogTollllllsssssssssssssshiltorySe(1, =lpha, mask, verbosity)[[nlog3.) setVerbosity(l"sS, mid):[nlogssssNetwork.setVerbosity(l"sS, mid)[nlogTo].s"sSCravq.setVerbosity(vid)[[nlog3.) setLear i)g(l"sS, midue):[nlogasogs"sSClear i)g = middl[nlogasogs"sSCravq.setAddModFls(midue)

To].3.) step(l"sS, **= ss):[nlogasogi) s"sSCgoveCnut   oas]""nl"sSC_cvoPCE_HElayaels# when_layers) re addcd one by one, ensureslsat_mask
        aels# isiin plsce[nlogTo].lllli) ]""nl"sSCravq.mask:[nlogTollllllsssss"sSCsetBal ocedMask()[nlogTo].To].= sLayerNames =.= ss.keys()PCE_HElllTo].= sLayerNames.ss)n()PCE_HElllaels# map_lse)ravqsinputi oasl= set[nlogasogsssssitLayerNames =.[layer.nameyoPC_layer_in s"sSClayers]PCE_HElllllllnetLayerNames.ss)n()PCE_HElllaels# s)n:allioTolhe
inputilayer's:middlsPCE_HElllaels#  oasallioTolhe
ouputilayer's:l= sets centumsed in = ssoPCE_HElayaelsinputViddlss=.[]PCE_HEllllllll= setViddlss=.[]PCE_HEllllllloPC_layerName in = sLayerNamesoPCE_HElayaelslllli) s"sS[layerName].kind == 'Input':[nlogTollllllssssaelsinputViddlss+= list(= ss[layerName])[nlogasogssssEllleli) s"sS[layerName].kind == 'Output':[nlogTollllllsssslllll= setViddlss+= list(= ss[layerName])[nlogasogssssmecto
Ili= inputViddlss+ll= setViddls[nlogTo].lllli) s"sSCverbosity:spinia:"in:", mecto
IlPCE_HElayaelss"sSCmap(mecto
Il)PCE_HElllaels# s)n:lse)nexn[nlogasogssssmecto
Out =.s"sSCnexn()PCE_HElllaelsi) s"sSCverbosity:spinia:"out:", mecto
OutPCE_HElllaelsi) mecto
Out ==_None:[nl    ogTo].To].mecto
Out =.mecto
IlPCE_HElayaels# s)n:lse)pieces Bi
eo) mecto
Out:[nl    ogTo].govNet== {}eyeinikeyyyyyLurrlifn= 0nc0, as 
as 
oPC_layerName in = sLayerNamesol# frLaba ss
    ikeyElllaelsi) s"sS[layerName].kind == 'Input':[nlogTollllllssssaelslength =.s"sS[layerName].se(1[nlogTo].llll  ogTo].govNet[layerName] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllyyyyLurrlifn+=slengthnc0, as 
as 
oPC_layerName in = ssolHElayaels# frLaba ss
    ikeyElllaelsi) s"sS[layerName].kind == 'Output':[nlogTollllllsssslllllength =.s"sS[layerName].se(1[nlogTo].llll  ogTo].govNet[layerName] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllyyyyLurrlifn+=slengthnc0, as 
as 
HEct ) Network.step(l"sS, **govNet)eyeinikeyelncoPCE_HElayaels#_justsdo it:[nl    ogTo].HEct ) Network.step(l"sS, **= ss)

crissrGoveCnorSRN(GoveCnor,sSRN):.[nlog3.) __init__il"sS, bufferSe(1s= 5, epsil.li= 
.2, 3.lta =.0.6,)E%T w't,as 

=,"*hiltorySe(1s= 5, =lpha =.0.02, mask =.[],)verbosityd= 
):[nlogssss# sitwork:[nlogssssSRN.__init__il"sS, same =."GoveCnedeActut  SRN",)E%T w't,as 
lllllllllverbosityd= verbosity)[nlogTo].s"sSCt
sn ut Network = SRN(same =."GoveCnedeT
sn ut  SRN",)E%T w't,as 
lllllllll,as 
lllllllllverbosityd= verbosity)[nlogTo].# ravq:[nlogssssGoveCnor.__init__il"sS)[nlogTo].# misc:[nlogTo].s"sSCt
sn ut Network.setInitCurtext(0)s s):nc.ls"sSCsetInitCurtext(0)s s):nc.ls"sSClear i)g = 0[nlogTo].s"sSCt
sn ut Network.lear i)g = 1e[nlog3.) setVerbosity(l"sS, mid):[nlogssssNetwork.setVerbosity(l"sS, mid)[nlogTo].s"sSCravq.setVerbosity(vid)[[nlog3.) add(l"sS, layer,)verbosity=
):[nlogssssSRN.add(l"sS, layer,)verbosity)[nlogTo].s"sSCt
sn ut Network.addLayer(layer.name,.layer.se(1, verbosity)[[nlog3.) addLayer(l"sS, same, se(1,)verbosity=
):[nlogssssSRN.addLayer(l"sS, same, se(1,)verbosity)[nlogTo].s"sSCt
sn ut Network.addLayer(same, se(1,)verbosity)[[nlog3.) addCurtextLayer(l"sS, same, se(1,)hiddenLayerName = 'hidden', verbosity=
):[nlogssssSRN.addCurtextLayer(l"sS, same, se(1,)hiddenLayerName,)verbosity)[nlogTo].s"sSCt
sn ut Network.addCurtextLayer(same, se(1,)hiddenLayerName,)verbosity)[[nlog3.) curnl)l(l"sS, frLaName,)toName):[nlogssssSRN.curnl)l(l"sS, frLaName,)toName)[nlogTo].s"sSCt
sn ut Network.curnl)l(frLaName,)toName)[[nlog3.) addThreeLayers(l"sS, i,)h, o):[nlogssssSRN.addThreeLayers(l"sS, i,)h, o) [nlogTo].s"sSCt
sn ut Network.setLayerVerifi)atums(0)s s):nc.ls"sSCt
sn ut Network.sh reWeCt $sil"sS)[nlogTo].i) ]""nl"sSCravq.mask:[nlogTolllllls"sSCsetBal ocedMask()[nlogTo].To].....[nlog3.) re s)n(l"sS, hilt=1):[nlogasogi) hilt:[nlogsssssssspinia:"ModFlimecto
s:[%d)Hiltogram:[%s"]%(sSen(s"sSCravq.modFls),ss"sSChiltogram)eyeinikeyelncoPCE_HElayaelspinia:"ModFlimecto
s:[%d"]%(sSen(s"sSCravq.modFls),)

To].3.) sweep(l"sS):[nlogssssHEcval =.SRN.sweep(l"sS)[nlogasogi) s"sSCgoveCnut   oas(s"sSCepoch %ls"sSCre s)nRate == 
):[nlogsssslllls"sSCPinia("ModFlimecto
s:[%d"]%sSen(s"sSCravq.modFls))PCE_HElllaelsi) s"sSCre s)nHiltograms:[nlogTollllllsssss"sSCPinia("Re s)n)Hiltogram:[%s"]%ss"sSChiltogram)eyeinikeyElllaelsi) s"sSCdecay:[nlogTo].To].To].lllls"sSCPinia("Decay Hiltogram :[%s"]%ss"sSCdecayHiltogram)[nlogasogsssss"sSChiltogram =.{}eyeinikeyi) s"sSCgoveCnut   oass"sSCdecay:[nlogTo].To].s"sSCdecayModFlVecto
s()PCE_HElllaelsi) s"sSCepoch %ls"sSCre s)nRate == 
:[nlogTollllllsssss"sSCPinia("Affer decay  :[%d"]%sSen(s"sSCravq.modFls))PCE_HElllrEct ) HEcvalP[nlog3.) t
sn FrLaBuffers(l"sS):[nlogssssmecto
Out =.s"sSCnexn()PCE_HEllli) mecto
Out ==_None:[nl    ogTo].HEct ) Nonenc0, as 
# s)n:lse)pieces Bi
eo) mecto
Out:[nl    oggovNet== {}eyeinikeyLurrlifn= 0nc0, as 
oPC_layer_in s"sSClayers:0, as 
# frLabnetwork
    CE_HEllli) layer.kind == 'Input':[nlogTollllllsssslength =.layer.se(1[nlogTo].nl    oggovNet[layer.name] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllLurrlifn+=slengthnc0, as 
oPC_layer_in s"sSClayers:0, as 
# frLabnetwork
    CE_HEllli) layer.kind == 'Curtext':[nlogTollllllsssslength =.layer.se(1[nlogTo].nl    oggovNet[layer.name] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllLurrlifn+=slengthnc0, as 
oPC_layer_in s"sSClayers:0, as 
# frLabnetwork
    CE_HEllli) layer.kind == 'Output':[nlogTollllllsssslength =.layer.se(1[nlogTo].nl    oggovNet[layer.name] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllLurrlifn+=slengthnc0, as 
# load_lsemi oasl
sn  t
sn ut sNetworkPCE_HElllrEct ) s"sSCt
sn ut Network.step(**govNet)e[nlog3.) t
sn FrLaModFlVecto
s(l"sS):[nlogssssmecto
Out =.s"sSCmodFls.sixt()PCE_HEllli) mecto
Out ==_None:[nl    ogTo].HEct ) Nonenc0, as 
# s)n:lse)pieces Bi
eo) mecto
Out:[nl    oggovNet== {}eyeinikeyLurrlifn= 0nc0, as 
oPC_layer_in s"sSClayers:0, as 
# frLabnetwork
    CE_HEllli) layer.kind == 'Input':[nlogTollllllsssslength =.layer.se(1[nlogTo].nl    oggovNet[layer.name] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllLurrlifn+=slengthnc0, as 
oPC_layer_in s"sSClayers:0, as 
# frLabnetwork
    CE_HEllli) layer.kind == 'Curtext':[nlogTollllllsssslength =.layer.se(1[nlogTo].nl    oggovNet[layer.name] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllLurrlifn+=slengthnc0, as 
oPC_layer_in s"sSClayers:0, as 
# frLabnetwork
    CE_HEllli) layer.kind == 'Output':[nlogTollllllsssslength =.layer.se(1[nlogTo].nl    oggovNet[layer.name] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllLurrlifn+=slengthnc0, as 
# load_lsemi oasl
sn  t
sn ut sNetworkPCE_HElllrEct ) s"sSCt
sn ut Network.step(**govNet)e[nlog3.) networkStep(l"sS, **= ss):[nlogasogi) s"sSCgoveCnut   oas]""nl"sSC_cvoPCE_HElayaels# when_layers) re addcd one by one, ensureslsat_mask  oassh rnt sCE_HElayaels#  re in plsce[nlogTo].lllli) ]""nl"sSCravq.mask:[nlogTollllllsssss"sSCsetBal ocedMask()[nlogTo].To].i) s"sSCt
sn ut Network.sh redWeCt $sl== 
:[nlogTollllllsssss"sSCt
sn ut Network.setLayerVerifi)atums(0)s s):nc.lllllsssss"sSCt
sn ut Network.sh reWeCt $sil"sS)[nlogTo].....= sLayerNames =.= ss.keys()PCE_HElllTo].= sLayerNames.ss)n()PCE_HElllaels# map_lse)ravqsinputicurtexti oasl= set[nlogasogssss# s)n:allioTolhe
curtextilayer's:a= a.aca.lsoPCE_HElllllllsitLayerNames =.[layer.nameyoPC_layer_in s"sSClayers]PCE_HElllllllnetLayerNames.ss)n()PCE_HElllaelsa= Curtexti=.[]PCE_HEllllllloPC_same in netLayerNamesoPCE_HElayaelslllli) s"sS[name].kind == 'Curtext':[nlogTollllllssssaelsa= Curtexti+= list(s"sS[name].a= a.aca.l)PCE_HElllaels# s)n:allioTolhe
inputilayer's:middlsPCE_HElllaels#  oasallioTolhe
ouptutilayer's:l= sets centumsed in = ssoPCE_HElayaelsinputViddlss=.[]PCE_HEllllllll= setViddlss=.[]PCE_HEllllllloPC_layerName in = sLayerNamesoPCE_HElayaelslllli) s"sS[layerName].kind == 'Input':[nlogTollllllssssaelsinputViddlss+= list(= ss[layerName])[nlogasogggggggggeli) s"sS[layerName].kind == 'Output':[nlogTollllllsssslllll= setViddlss+= list(= ss[layerName])[nlogasogssssmecto
Ili= inputViddlss+la= Curtexti+ll= setViddls[nlogTo].lllls"sSCmap(mecto
Il)PCE_HElllaels# s)n:lse)nexn[nlogasogssssmecto
Out =.s"sSCnexn()PCE_HElllaelsi) mecto
Out ==_None:[nl    ogTo].To].mecto
Out =.mecto
IlPCE_HElayaels# s)n:lse)pieces Bi
eo) mecto
Out:[nl    ogTo].govNet== {}eyeinikeyyyyyLurrlifn= 0nc0, as 
as 
oPC_layerName in = sLayerNamesol# frLaba ss
    ikeyElllaelsi) s"sS[layerName].kind == 'Input':[nlogTollllllsssslllllength =.s"sS[layerName].se(1[nlogTo].llll  ogTo].govNet[layerName] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllyyyyLurrlifn+=slengthnc0, as 
as 
oPC_layer_in s"sSClayers:0, as 
# frLabnetwork
    CE_HElllaelsi) layer.kind == 'Curtext':[nlogTollllllsssslllllength =.layer.se(1[nlogTo].nl    ogTo].govNet[layer.name] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllyyyyLurrlifn+=slengthnc0, as 
as 
oPC_layerName in = ssolHElayaels# frLaba ss
    ikeyElllaelsi) s"sS[layerName].kind == 'Output':[nlogTollllllsssslllllength =.s"sS[layerName].se(1[nlogTo].llll  ogTo].govNet[layerName] =.mecto
Out[Lurrlif:Lurrlif+length]PCE_HElllllllllllyyyyLurrlifn+=slengthnc0, as 
aels# load_lsemi oasl
sn  t
sn ut sNetworkPCE_HEllllllls"sSCt
sn ut Network.step(**govNet)eElllllllHEct ) Network.step(l"sS, **= ss)

llll3.) setEpsil.l(l"sS, liveEpsil.l, govEpsil.li= None):[nlogssssif govEpsil.li==_None:[nl    ogTo].govEpsil.li= liveEpsil.l[nl    ogSRN.setEpsil.l(l"sS, liveEpsil.l)s s):nc.ls"sSCt
sn ut Network.setEpsil.l(govEpsil.l)

llll3.) setMocentum(s"sS, liveMocentum, govMocentumi= None):[nlogssssif govMocentumi==_None:[nl    ogTo].govMocentumi= liveMocentum[nl    ogSRN.setMocentum(s"sS, liveMocentum)s s):nc.ls"sSCt
sn ut Network.setMocentum(govMocentum)

llll3.) setSequeoceType(l"sS, midue):[nlogasogs"sSCt
sn ut Network.setSequeoceType(midue)
as 
aels# siedseto be s"t, but ordered/r tdom doesn't_mattss:[nlogssssSRN.setSequeoceType(l"sS, midue) [nlogTo].
llll3.) setLear i)g(l"sS, midue):[nlogasogs"sSCgoveCnut  = middl[nlogasogs"sSCt
sn ut Network.lear i)g = middl[nlogasogs"sSCravq.setAddModFls(midue)
nlogasogs"sSClear i)g = middl[
i) __nn.F__ == '__msn __':[nlogim s)nTos, gzip, sys
ssssif Sen(sys.= sv) !=.4:[nlogasogpinia:=Lalliosed: python govenor.py goveCnut  resetEpochTd.cay"
        sys.exit(1)[nlog# read in 20,0

 lises o) expeinmsntal t
sn ut sdata[nloglo)atumsfiSe = gzip.opls('lo)atums.dat.gz', 'r')[nlogsensorfiSe = gzip.opls('sensors.dat.gz', 'r')[nlogsensors =.s"nsorfiSe.readlises()PCE_Hlo)atumsss= So)atumsfiSe.readlises()PCE_Hlo)atumsfiSe.Llosc()tnlogs"nsorfiSe.Llosc()tnlog# make
input/l= set pattsslsoPCE_Hinputss=.[]PCE_HoPC_lise_in s"nsors:[nlogssssinputs.applsd(.map(lsmbda)x: float(x),_lise.strnp().split()))PCE_Hl= sets =.[]PCE_HoPC_lise_in lo)atumss:[nlogssssl= sets.applsd(.map(lsmbda)x: float(x),_lise.strnp().split()))PCE_HisSe(1s= Sen(s"nsors[0].strnp().split())tnlog# The)choice o) epsil.li oasdelta may change_lse)requiredtnlog# oeCt $s. FPC_binary ]"des, changut slse)middliosllimake
lse)mecto

nlog# dist oce:one 1rLabeveCysmecto
 osedstse)opposice)middlin  that
nlog# ]"de. This change_is lioughsif tse)delta middlins Sess lsan
nlog# mse. Use o) a hCt  oeCt $ middlins moreslo)refsl)lslsat_lhat
nlog# ]"de isiim s)naia:n  3.t1rmisut slse)functumsioTolhe
network.
nlognet== GoveCnorSRN(5, 2.1,)0.3, 5, 0.2)
nlognet.setSequeoceType("ordered-curtinuous")[nlognet.addLayer("smsar", 16)[nlognet.addLayer("color", 4)[nlognet.addLayer("stall", 1)[nlognet.addCurtextLayer('curtext', isSe(1/2, 'hidden')[nlognet.addLayer("hidden", isSe(1/2)[nlognet.addLayer("output", 4)[nlognet.curnl)l("smsar", "hidden")[nlognet.curnl)l("color", "hidden")[nlognet.curnl)l("stall", "hidden")[nlognet.curnl)l("cortext", "hidden")[nlognet.curnl)l("hidden", "output")[nlognet.mapInputs([['smsar', 0],)['color', 16],)['stall', 17]])[nlognet.setT= sets(sl= sets[:389] )g# 389== one trnp around[nlognet.setInputs(sinputs[:389] )g# has[soce pausesiin Rresloo
nlognet.setStopPerclif(.95)[nlognet.setRe s)nRate(1)[nlognet.setResetLimit(1)[nlognet.setTol1rance(0.2)
nlognet.goveCnut  = nia(sys.= sv[1])[nlogi) ]""nnet.goveCnut ol# i) ]""ngoveCnut ,slhen_ct ) msilear i)g in =c"nnet[nlogssssnet.lear i)g = 1eyeinnet.setResetEpoch(nia(sys.= sv[2]))
nlognet.decay = nia(sys.= sv[3])[nlogpinia:=GoveCnut  is", net.goveCnut [nlogpinia:=Decay is", net.decay
nlognet.t
sn ()[nlogpinia:net.ravq
    pinia:=Decay:", net.decay
nlogpinia:=Testut ..."s s):pinia:=This takessatwhile..."s s):net.goveCnut  = 0[nlognet.setT= sets(sl= sets )[nlognet.setInputs(sinputs )
nlognet.goveCnut  = 0[nlogtss, currlct, total, pcurrlct =.net.sweep()[nlogpinia:=TSS: %.4f Perclif: %.4f"]% (tss, currlct / float(total))tnlog# rus)oseds-i to seennet[nlog
pyrobot/b
sn /gp.py0100755000076400003100000003560010271076365014325 0ustar  dblankfaculty"""
Pyrobot ModuleyoPC_Gen1tic ProgramC[Ext"nsumsioToGA (pyrobot/b
sn /ga.py)
"""

__auedBr__ = "Dougris Blank "
__versums__ = "$Revisums: 1.23 $"

1rLabpyrobot.b
sn .gasim s)nT*[im s)nTpyrobot.system.sh re as[sh re
1rLabmathsim s)nTpi[im s)nTopssato
, sys, tHEls

### WORKAROUND: 3.epLopyscan't_Lopysdicts)osedsfunctumss
### Currlifly usnt  global sh re.env to avoid havut  it
### in gen1
### FIX: 3on't_usc 3.epLopy

ALLOW_SELF_EVAL = 1s# s"sS-emiddatut  t1rmisals (reals, ists, floats, etc)

########## FunctumssroPC_emiddator. Desigsed soslsat_you cansmake
your
########## own, too.

3.) div_func(*opssands):.[nlog""" FPC_protlcted divisa.l. tHEl="HEgular" sosno environmlifiis passed."""
    i) opssands[1]l== 
:[nlogTollrEct ) sys.maxiifi# ]""nallipython's have:"infinity"
    elncoPCE_HElayrEct ) opssands[0] / float(opssands[1])
3.) ifpos_func(opssands, env):[nlog""" Special oPCm (lszy_emiddata.l) oPC_if-posicave. Niedseenv.s"""
    lest_val, if_val, elnc_val =.opssands
    lest_result =.lest_val.emid(env)
    i) (lest_result)oPCE_HElayrEct ) if_val.emid(env)
    elncoPCE_HElayrEct ) elnc_val.emid(env)
3.) and_func(opssands, env):[nlog""" Special oPCm (lszy_emiddata.l) oPC_sdBrt-circuitut  'and'. Niedseenv.s"""
    if Sen(opssands)l== 
:[nlogTollrEct ) 1
    elncoPCE_HElaycar =.opssands[0].emid(env)
    nlogi) ]""ncar:[nl    ogTo].HEct ) 0nc0, as 
elncoPCE_HElayaelsHEct ) and_func(opssands[1:], env)
3.) Br_func(opssands, env):[nlog""" Special oPCm (lszy_emiddata.l) oPC_sdBrt-circuitut  'or'. Niedseenv.s"""
    if Sen(opssands)l== 
:[nlogTollrEct ) 0
    elncoPCE_HElaycar =.opssands[0].emid(env)
    nlogi) car:[nl    ogTo].HEct ) 1eyeinikeyelncoPCE_HElayaelsrEct ) or_func(opssands[1:], env)

########## End[of FunctumssroPC_emiddator

crissrOpssato
:[nlog""" Crissrto holdTopssato
 isoPCmatums.g"""
    3.) __init__il"sS, func,.opssands = 2, tHEl = "HEgular"):[nlogssss""" Curstructo
 oPC_Opssato
gcriss. Takessatfunctums._Optumsalba ss  re:[nlogssss-.opssands (numbss[of opssands);_uscd oPC_gen1ralut  r tdom functumsiLalls[nlogssss-.tHEl ("HEgular" PC_"lszy");_3.t1rmisesiifba ss  re_emiddatcd beforesbent sCE_HElayaepassedrto func.[nlogssss"""
        s"sSCfunc = func
        s"sSCopssands = opssands
        s"sSCtHEl = tHEl

crissrEnvironmlif:[nlog""" Crissrto holdTenvironmlifiisoPCmatums.g"""
    3.) __init__il"sS, dict== {}):[nlogasogs"sSCenv = dict.Lopy()[nlog3.) update(l"sS, dict):[nlogasogs"sSCenv.update( dict=)[nlog3.) t1rmisals(l"sS):[nlogssssHEcvalsl=.{}eyeinikeyoPC_item:in s"sSCenvoPCE_HElayaelsi) ]""nisanlt oce(s"sSCenv[item], Opssato
):[nlogssssssssasogHEcvals[item] =.s"sSCenv[item][nlogTollrEct ) HEcvals[nlog3.) opssato
s(l"sS):[nlogssssHEcvalsl=.{}eyeinikeyoPC_item:in s"sSCenvoPCE_HElayaelsi) isanlt oce(s"sSCenv[item], Opssato
):[nlogssssssssasogHEcvals[item] =.s"sSCenv[item][nlogTollrEct ) HEcvals[nlog3.) lszyOps(l"sS):[nlogssssHEcvalsl=.{}eyeinikeyoPC_item:in s"sSCenvoPCE_HElayaelsi) isanlt oce(s"sSCenv[item], Opssato
)  oass"sSCenv[item]CtHEl ==_"lszy":[nlogssssssssasogHEcvals[item] =.s"sSCenv[item][nlogTollrEct ) HEcvals[nlog3.) HEgularOps(l"sS):[nlogssssHEcvalsl=.{}eyeinikeyoPC_item:in s"sSCenvoPCE_HElayaelsi) isanlt oce(s"sSCenv[item], Opssato
)  oass"sSCenv[item]CtHEl ==_"HEgular":[nlogssssssssasogHEcvals[item] =.s"sSCenv[item][nlogTollrEct ) HEcvals[
crissrGPTree:[nlog""" Msn  t
eenstructuresoPC_GP.g"""
    3.) __init__il"sS, op, *childrli):[nlogasogs"sSCop = op[nlogasogs"sSCchildrlis=.[]PCE_HEllls"sSCroot = Nonenc0, as 
s"sSCdepth =.0nc0, as 
oPC_childgin childrlioPCE_HElayaelsi) ]""nisanlt oce(child,rGPTree
:[nlogTo].To].To].s"sSCchildrli.applsd(GPTree(child))PCE_HElllaelselncoPCE_HElayaelssssss"sSCchildrli.applsd(child)nc0, as 
s"sSCinssrnals =.[0]n**Sen(s"sSCchildrli)[nlogasogs"sSCexssrnals =.[0]n**Sen(s"sSCchildrli)[nlogasogs"sSCresetCuurts()[nlog3.) leaf(l"sS):[nlogssssHEct ) Sen(s"sSCchildrli)l== 
[nlog3.) totalPoiits(l"sS):[nlogssssi) s"sSCleaf(
:[nlogTo].To].total_poiits = 1s#_justss"sSeyeinikeyelncoPCE_HElayaelstotal_poiits = 1s#_cuurtss"sSeyeinikeyaelstotal_poiits +=sHEduce(opssato
.add,
s"sSCinssrnals,:0)s s):nc.laelstotal_poiits +=sHEduce(opssato
.add,
s"sSCexssrnals,:0)s s):nc.lHEct ) total_poiits[nlog3.) t1rmisalPoiits(l"sS):[nlogssssi) s"sSCleaf(
:[nlogTo].To].total_poiits = 1s#_justss"sSeyeinikeyelncoPCE_HElayaels# 3on't_cuurtss"sSeyeinikeyaelstotal_poiits =sHEduce(opssato
.add,
s"sSCexssrnals,:0)s s):nc.lHEct ) total_poiits[nlog3.) getT1rmisalPoiits(l"sS):[nlogssssi) s"sSCleaf(
:[nlogTo].To].HEct ) [s"sSCop][nlogTollelncoPCE_HElayaelslysti=.[]PCE_HEllllllloPC_isin r thr(Sen(s"sSCchildrli)
:[nlogTo].To].To].lystCexsssd(.s"sSCchildrli[i]CgetT1rmisalPoiits() )[nlogTo].To].HEct ) Syst[nlog3.) getT1rmisalTree(l"sS, pos):[nlogasogi) pos == 
  oass"sSCleaf(
:[nlogTo].To].HEct ) s"sSeyeinikeycifn= 0nc0, as 
oPC_isin r thr(Sen(s"sSCchildrli)
:[nlogTo].To].i) pos <
s"sSCexssrnals[i] +ycif:[nlogssssssssasogHEct ) s"sSCchildrli[i]CgetT1rmisalTree(pos - cit)[nlogsssssssscifn+=ss"sSCexssrnals[i][nlog3.) getPoiit(l"sS, pos):[nlogasogi) pos == 
:[nlogTo].To].HEct ) s"sSeyeinikeyoffset== 1nc0, as 
oPC_isin r thr(Sen(s"sSCchildrli)
:[nlogTo].To].tp =.s"sSCchildrli[i]CtotalPoiits()PCE_HElllaelsi) pos - offset=<.tp:[nlogssssssssasogHEct ) s"sSCchildrli[i]CgetPoiit(pos - offset)PCE_HElllaelsoffset=+=stp[nlogasograiseTAttributFEr
o
, ("pos %diis beyooasgenotHElslength"]% pos)
    3.) __str__il"sS):[nlogsssss =s''[nlogssssi) s"sSCleaf(
:[nlogTo].To].s +=s"%s"]%ss"sSCop[nlogasogelncoPCE_HElayaelss +=s"(%s"]%ss"sSCop[nlogasogas 
oPC_childgin s"sSCchildrlioPCE_HElayaelssssss +=s"[%s"]%schildPCE_HElayaelss +=s")"
        HEct ) s[nlog3.) HEsetCuurts(l"sS, root = None, 3.pth =.0):[nlogasogi = 0[nlogTo].s"sSCroot = rootnc0, as 
s"sSCdepth =.depth[nlogssssi) root ==_None:[nl    ogTo].Hoot = s"sSeyeinikeyoPC_childgin s"sSCchildrlioPCE_HElayaelsinssrnal, exti=.childCresetCuurts(Hoot, 3.pth + 1)s s):nc.las 
s"sSCinssrnals[i] =sinssrnals s):nc.las 
s"sSCexssrnals[i] = exn[nlogasogssssii+= 1eyeinikeyi) s"sSCleaf(
:[nlogTo].To].HEct ) (0,1)s s):nc.lelncoPCE_HElayaelsrEct ) (HEduce(opssato
.add,
s"sSCinssrnals,:1),)E%T w't,as 

=,"****HEduce(opssato
.add,
s"sSCexssrnals,:0))
    3.) emid(l"sS, env = None):[nlogssssif env ==_None:[nl    ogTo].env = sh re.enveyeinikeyi) s"sSCop ]""nineenv.opssato
s()Ckeys():[nlogssssssssi) s"sSCop ineenv.envoPCE_HElayaelsaelsrEcval =.env.env[s"sSCop][nlogTollnc.leli) ALLOW_SELF_EVALoPCE_HElayaelsaelsrEcval =.s"sSCop[nlogasogas 
elncoPCE_HElayaelsssssraiseTAttributFEr
o
, ("'%s'iis ]""nineenv,  oasALLOW_SELF_EVAL = 0"]%ss"sSCop)t[nlogggggelncoPCE_HElayaelsi) s"sSCop ineenv.lszyOps()Ckeys():[nlogssssssssssssop = env.lszyOps()[s"sSCop].func
        aelsaelsrEcval =.apply(op, (s"sSCchildrli, env))PCE_HElllaelseli) s"sSCop ineenv.HEgularOps()Ckeys():[nlogssssssssssssop = env.env[s"sSCop].func
        aelsaelsrEsults =smap(lsmbda)x: x.emid(env), s"sSCchildrli)[nlogasogggggggggrEcval =.apply(op, rEsults)PCE_HElllaelselncoPCE_HElayaelsssss#_justsa t1rmisal? Er
o
?PCE_HElayaelsaelsrEcval =.env.env[s"sSCop][nlogTollrEct ) HEcvalP[crissrGPGen1(Gen1):[nlog3.) __init__il"sS, **= ss):[nlogasogs"sSCbias =s.6[nlogasogs"sSCfitness =.0.0nc0, as 
s"sSCm"de = -1eyeinikeys"sSCa ss =.= ss].#)can't_have:env in iteyeinikeyi) = ss.has_key('bias'):[nlogsssslllls"sSCbias =s= ss['bias'][nlogToll# hCt erolhe
bias, moreslikelyeto be shalloweyeinikeyi) (r tdom.r tdom() gtotal_poiits: breaki# ]" siedeto do more
    3.) Lrossover(l"sS, parlif2,)LrossoverRate):[nlogasog""" Make
lw" siwsgenotHEls, or HEct ) tse)old ones."""
        if flip(LrossoverRate):[nlogasogggggparlif1 = s"sSeyeinikeyggggt1rm1 = parlif1CgenotHEl.totalPoiits()PCE_HElllggggt1rm2 = parlif2CgenotHEl.totalPoiits()PCE_HElllggggr td1s=.nia(t1rm1 * r tdom.r tdom())PCE_HElllggggr td2s=.nia(t1rm2 * r tdom.r tdom())PCE_HElllgggglubt
ee1 = parlif1CgenotHEl.getPoiit(gr td1s)PCE_HElllgggglubt
ee2 = parlif2CgenotHEl.getPoiit(gr td2s)PCE_HElllggggp1 =.deepLopy(gparlif1 )PCE_HElllggggp2 =.deepLopy(gparlif2s)PCE_HElllggggs"sSCreplsceTree(p2,)lubt
ee1 )PCE_HElllggggs"sSCreplsceTree(p1,glubt
ee2 )PCE_HElllggggp1CgenotHElCresetCuurts()[nlogggggggggp2CgenotHElCresetCuurts()[nlogggggggggHEct ) p1,gp2 # rect )s.siwsLopiesroPC_replscemlif
        elncoPCE_HElayaelsrEct ) l"sS, parlif2[nlog3.) HEplsceTree(l"sS, lubt
ee,stemp, rEplsceChildrlis=.1):[nlogasog""" REplsce opssato
  oas(optumsally) childrli.s"""
        # tseseT re allst
ees, or listdoTst
ees:[nlogasogsubt
eeCop = tempCop[nlogasogif rEplsceChildrli:PCE_HElllgggglubt
eeCchildrlis=.tempCchildrliPCE_HElllgggglubt
eeCinssrnals =.tempCinssrnalsPCE_HElllgggglubt
eeCexssrnals =.tempCexssrnalseyeinikeyElllael
3.) wrapObj(Lurrlif_symbol, objTHEls=rGPTree):[nlog""" A wrappss oPC_parse. Should_have:bee) HELursave...s"""
    rEcval =.Lurrlif_symbol
asogif ]""nisanlt oce(currlif_symbol, objTHEl):[nlogssssif currlif_symbolgin sh re.env.envoPCE_HElayaelsrEcval =.objTHEl(currlif_symbol)s s):nc.lelif tHEl(currlif_symbol)l== tHEl(""):s# s"sS-emiddatut  numbss?PCE_HElayaelsif ]""nALLOW_SELF_EVALoPCE_HElayaelsaelsraiseTAttributFEr
o
, ("'%s'iis ]""nineenv,  oasALLOW_SELF_EVAL = 0"]%scurrlif_symbol)s s):nc.laelsif "."gin currlif_symboloPCE_HElayaelsaelsrEcval =.GPTree(float(currlif_symbol))PCE_HElllaelselncoPCE_HElayaelsssssrEcval =.GPTree(iit(currlif_symbol))PCE_HrEct ) HEcvalP[3.) parse(exp, objTHEls=rGPTree):[nlog""" Parse
 to ct ) "(+ 4 5)"ginto a GPTree expressums.g"""
    lt ck i=.[]PCE_Hcurrlif_symbolg=s''[nlogoPC_isin r thr(Sen(exp)):[nlogssssif exp[i] ==s"(":[nlogsssssssslt ck.applsd(.[] )[nlogTo].elif exp[i] ==s")":s# end[of lists s):nc.laelsif currlif_symbolg!=.'':[nlogTollllllssssif Sen(st ck[-1]) >g
:[nlogTollnlogTollsssslt ck[-1].applsd(wrapObj(Lurrlif_symbol))[nlogTo].nc.lllllelnco[nlogTollnlogTollsssslt ck[-1].applsd(currlif_symbol)l# 3on't_wrap op[nlogasogas 
CE_Hcurrlif_symbolg=s''[nlogas 
CE_Hcurrlif_symbolg=sapply(objTHEl,slt ck.pop(-1))[nlogTo].elif exp[i] ==s' ':s# sixtssymbol
asognc.laelsif currlif_symbolg!=.'':[nlogTollllllssssif Sen(st ck[-1]) >g
:[nlogTollnlogTollsssslt ck[-1].applsd(wrapObj(Lurrlif_symbol))[nlogTo].nc.lllllelnco[nlogTollnlogTollsssslt ck[-1].applsd(currlif_symbol)l# 3on't_wrap op[nlogasogas 
CE_Hcurrlif_symbolg=s''[nlogas 
elnco[nlogTollnlogcurrlif_symbolg+= exp[i]PCE_HrEct ) wrapObj(Lurrlif_symbol)

# A lt odardTenvironmlifidictumsary:
env = {'+'  :[Opssato
(opssato
.add),l# 3efaults to opssands=2[nlogTol'-'  :[Opssato
(opssato
.lub),)E%T w't'*'  :[Opssato
(opssato
.mul),)E%T w't'/'  :[Opssato
(div_func),)E%T w't'ifpos' :[Opssato
(ifpos_func,.opssands=3, tHEl="lszy"),l# explicifly listdopssands
       'and'   :[Opssato
(and_func,  tHEl="lszy"),
       'or'    :[Opssato
(or_func,   tHEl="lszy"),
       # explicifly listdopssandso[nlogTol#'rnd'   :[Opssato
(lsmbda: r tdom.r tdom(),.opssands=0, tHEl="HEgular"),
       #1: 1,g2:2,)3:3, 4:4,
       }

# The)lt odardTenvironmlif:
sh re.env =rEnvironmlif(env)

i) __nn.F__ == '__msn __':[nlogsh re.env.update( {'i1':0, 'i2':0} )[nlogoutputs =.[ 0, 1, 1, 0 ]g# mutputs oPC_XOR
asoginputss=.[ {'i1' :[0, 'i2' :[0},)E%T w't,as 

=,{'i1' :[0, 'i2' :[1},)E%T w't,as 

=,{'i1' :[1, 'i2' :[0},)E%T w't,as 

=,{'i1' :[1, 'i2' :[1} ]PCE_HcrissrGP(GA):[nlogssss3.) __init__il"sS, cnt, **= ss):[nlogasogggggGA.__init__il"sS, Populatums( cnt, GPGen1, bias =.6, [nlogssss s):nc.lllllllllllllllllllllllllllelitePerclif =s.1,)verboses=.1),)E%T w't,as 
lllllllll,asmaxGen1ralu.li= 100,)E%T w't,as 
lllllllll,asverboses=.1))E%T [nlogssss3.) fitnessFunctums(l"sS, pos):[nlogasogssss3iff = 0nc0, as 
as 
oPC_isin r thr(Sen(inputs)
:[nlogTo].To].To].s"t, goal =.inputs[i], mutputs[i]PCE_HHHHHHHHHHHHHrEcval =.s"sSCpop.individuals[pos].emid(set)PCE_HElllaelsssssitem: =sHEcval - goalPCE_HElllaelsssss3iff += abs(item)[nlogggggggggHEct ) max(4 - 3iff,:0)s s):[nlogssss3.) isDone(l"sS):[nlogssssas 
oit =.s"sSCpop.bestMembssCfitnessPCE_HElllggggs"sSCpop.bestMembssCdisplsy()[nlogggggggggpinia:[nlogggggggggHEct ) oit == 4s s):[nloggps=rGP(50)s s):gpCevolve()[nlogpinia:= -----------------------------------------------------------------"[nlogoPC_i)s.in.inputs:[nlogsssspinia:i)s,:gpCpop.bestMembssCemid(i)s)PCE_Hraw_input("PressTente
 to curtinue...")PCE_HcrissrPI_GP(GA):[nlogssss3.) __init__il"sS, cnt, **= ss):[nlogasogggggGA.__init__il"sS, Populatums(cnt, GPGen1, bias = .6,)E%T w't,as 

=,"*************************verboses=.1, [nlogssss s):nc.llllllllllllllllllllllllllelitePerclif =s.1),)E%T w't,as 
lllllllll,asverboses=.1, maxGen1ralu.li= 25)[nlogssss3.) fitnessFunctums(l"sS, pos, pr = 
):[nlogssssllll3iff = abs(s"sSCpop.individuals[pos].emid() - pi)PCE_HElllaelsi) pr:[nlogTo].To].To].s"sSCpop.individuals[pos].displsy()[nlogggggggggggggpinia[nlogggggggggHEct ) max(pi - 3iff,:0) [nlogssss s):nc.l[nlogssss3.) isDone(l"sS):[nlogssssas 
HEct ) abs(s"sSCfitnessFunctums(0, 1) - pi) < .001[nlogsh re.env.update( {'+1':[Opssato
(lsmbda obj: obj + 1, 1, "HEgular"),
                       '1/2': .5,
                       'e': math.e } )[nloggps=rPI_GP(100)s s):gpCevolve()[nlogpinia:= -----------------------------------------------------------------"[pyrobot/b
sn /pysom.py0100755000076400003100000001216410271076365015066 0ustar  dblankfaculty# A Python S"sS-organizut  Map

__auedBr__ = "Dougris Blank "
__versums__ = "$Revisums: 1.3 $"

im s)nTR tdomArray, r tdom, math, sys
[crissrSOM:P[nlog3.) __init__il"sS, rows, culs,:se(1):[nlogasogs"sSCrows = rows
        s"sSCculs =.Lols
        s"sSCmecto
Llis=.se(1[nlogTo].s"sSCoeCt $ =TR tdomArray.r tdom((rows, culs,:se(1))nc0, as 
s"sSCinput =.[]nc0, as 
s"sSCloadOrder =.[]nc0, as 
s"sSCstep = 0[nlogTo].s"sSCmaxStep = 1000.0n[nlog3.) setInputs(l"sS, inputs):nc0, as 
s"sSCinput =.inputsnc0, as 
s"sSCloadOrder =.r thr(Sen(s"sSCinput))i# ]""nr tdom
        # osllir tdome(1slater,)if ]ecd ben[nlog3.) euclidias(l"sS, x1, y1, x2,)y2):[nlogssssHEct ) math.sqrt((x1 - x2) ** 2 + (y1 - y2) ** 2)

llll3.) dist oce(l"sS, m1,)v2):[nlogssssdist =.0.0nc0, as 
oPC_isin r thr(Sen(v1)
:[nlogTo].To].as=.v1[i] -)v2[i]PCE_HHHHHHHHHdist += (d ** 2)
nlogssssHEct ) dist

llll3.) winner(l"sS, pattssl):[nlogssssdiff = s"sSCdist oce(l"sSCoeCt $[0][0],)pattssl)[nlogssssx =.0; yn= 0nc0, as 
oPC_rsin r thr(0, Sen(s"sSCoeCt $)
:[nlogTo].To].oPC_csin r thr(0, Sen(s"sSCoeCt $[r])
:[nlogTo].To].To].d = s"sSCdist oce(l"sSCoeCt $[r][c],)pattssl)[nlogssssssssssssif d < diffo[nlogTollnlogTollssssdiff = d[nlogTollnlogTollssssx =.c
        aelsaelsssssyn= r
nlogssssHEct ) (x,)y,sdiff)

llll3.) radius(l"sS):[nlogssssHEct ) (1.0 -)(s"sSCstep * 1.0) /.s"sSCmaxStep) * min(s"sSCrows, s"sSCculs, 5)e[nlog3.) testMap(l"sS, pos, x,)y):s# winner at (x,)y)nc0, as 
oPC_rsin r thr(s"sSCrows
:[nlogTo].To].oPC_csin r thr(s"sSCculs
:[nlogTo].To].To].dist =.s"sSCeuclidias(x,)y,sc, r)s s):nc.lllllssssscalen=sl"sSCgaussias(dist)[nlogggggggggggggpinia "%+.2f "]%sscale,
            pinia ""
        pinia ""
        #pinia "--More-- ",)E%T w't,#sys.stdin.readlise()e[nlog3.) gaussias(l"sS, dist):[nlogssssif dist == 
:[nlogTollnlogscalen=s.9[nlogTo].elif dist == 1:[nlogTollnlogscalen=s-.1[nlogTo].elif dist  
  oas(cifn+ 1) % width == 
:[nlogTollnlogs +=s'\n'[nlogas 
cifn+=s1nc0, if newlise:[nlogsssss +=s'\n'[nlogHEct ) s[[3.) logBaseTwo(midue):[nlog"""[nlogRect )s.inssgss ceilioTolog_2=o) midue.[nlogPython 2.3_sdBuld_sup s)nTdifferlifnlog bases.[nlog"""[nlogi) miduen<.2:[nlogssssHEct ) 1
    elncoPCE_HElayrEct ) int(math.ceil(math.log(midue)/math.log(2)))P[3.) makeBitList(maxbitss=.8):.[nlog""" [nlogThis versumsins much moresflexible as[itsrEliesr.li _gen1ralsfunctums [nloglsat_lakessany numbss[ oasconverts[itsto binary. You cansmake
any [nlogse(1 bitsrEpressntatums lsat_you waif: [nlogmakeBitList(2) oslligive_you: [[0, 0],)[0, 1],)[1, 0],)[1, 1]] nc0, oPC_example. Defaults to 8 bits..[nlog""" [nlogHEcval =.[] nc0, oPC_isin r thr((2 ** maxbits)): PCE_HElllHEcval.applsd(.dec2bin(i, maxbits) ) [nlogHEct ) HEcval 

3.) dec2bin(val, maxbitss=.8):.[nlog""" [nlogA decimal to binarysconverter.gRect )s.bitssin a list..[nlog""" [nlogHEcval =.[] nc0, oPC_isin r thr(maxbitss-.1, -1, -1): PCE_HElllbit =.nia(val / (2 ** i)) PCE_HElllval =.(val % (2 ** i)) PCE_HElllHEcval.applsd(bit) [nlogHEct ) HEcvalP[3.) makeNoisyList(ls,gperclifNoise=0.1,)minVal=0.0, maxVal=1.0
:[nlog"""[nlogRect )s.a noisy versumsioTolhe
given list,  oasissumessatr thr[nlogo) midues betwee) 0.0  oas1.0.[nlog"""[nlogHEcval =.[]nc0, oPC_isin r thr(Sen(ls)):[nlogssssif r tdom.r tdom()  1:[nlogTollnlogpinia "Step:", s"sSCtime
        i) s"sSCverbosity > 2:[nlogTollnlogpinia mec[nlogTollarray:=.Numeric.array(mec, 'd')nc0, as 
i) s"sSCmask ==_None:[nl    ogTo].s"sSCmask =_Numeric.ones(Sen(array), 'd')nc0, as 
s"sSCbuffer.addItem(array)nc0, as 
i) s"sSCtime >= Sen(s"sSCbuffer):[nlogsssslllls"sSCprocess() PCE_HEllli) s"sSCverbosity > 2:spinia:l"sSnc0, as 
s"sSCtime += 1eyeinikeyHEct ) (s"sSCnewWinnerIndex,ys"sSCwinner)e[nlog# attributF methods[nlog3.) getNewWinneril"sS):[nlogssss"""
        Rect )s.bool1anidependut  ms wheRr or ]""nRresis.a neweyeinikeywinner afterolhe
rist
call to i)put.[nlogssss"""
        i) s"sSCwinnerCuurt >g
:[nlogTollnlogHEct ) 0nc0, as 
elncoPCE_HElayaelsHEct ) 1[nlog3.) setMask(l"sS, mask):[nlogssss"""
        The)mask servesito oeCt $ certsn  componeifsroTolhe
inputssis[nlogsssstse)dist oce calculatumss.[nlogssss"""
        s"sSCmask =_Numeric.array(mask, 'd')nc0, 3.) getWinnerCuurtil"sS):[nlogssss"""
        Rect )s.lhe
numbss[of timesslhe
Lurrlifnwinner has[bee) R[nlogsssswinner, ie. lhe
numbss[of consecucaveiLalls to i)putnwresR[nlogssssLurrlifnwinner has[bee) Rnwinner.[nlogssss"""
        HEct ) l"sSCwinnerCuurt[nlog3.) setVerbosity(l"sS, midue):[nlogasog"""
        D.t1rmisesiwhich pinia:ltatemlifsrto call.
        D.buggut  msly.[nlogssss"""
        s"sSCverbosity = middl[nlog3.) setAddModFls(l"sS, midue):[nlogasog"""
        Allows_lse)RAVQeto dynamically addsmodFlimecto
s.[nlogssss"""
        s"sSCaddModFls = middl[nlogasog[nlog# process happlssr.lceolhe
buffer
is full[nlog3.) process(l"sS):[nlogssss"""
        Tse)RAVQeAlgorsedm:[nlogssss1. Calculateitse)averagesmecto
 o) all
inputssisolhe
buffer.[nlogssss2. Calculateitse)dist oce:ofitse)averages1rLabR set=o) inputsnc0, as 
isolhe
buffer.[nlogssss3. Calculateitse)dist oce:ofitse)modFlimecto
ss1rLabR inputsnc0, as 
isolhe
buffer.[nlogssss4. I) dist oce_in step 2
is smalli oasdist oce_in step 3ins S= se,
        addsLurrlifnaveragesto listdoTsmodFlimecto
s.[nlogssss5. Calculateitse)winnut smodFlimecto
:based on dist oce_betwee)nc0, as 
each modFlimecto
: oaslhe
buffer
list.nc0, as 
6. Update_hiltory.nc0, as 
---The)metric usedrto calculateidist oce_is[described in[nlogssss"S"nsory Flow Segmsntatums Usut sa Resourcl Allocatut [nlogssssVecto
 Quante(1r" by_Fredrik Linakss[ oasLa
ssNikrisson[nlogssss(2000).---[nlogssss"""
        s"sSCnewModFlVecto
 =.(None, None)nc0, as 
s"sSCsetMovut Average()nc0, as 
s"sSCsetMovut AverageDist oce()nc0, as 
s"sSCsetModFlVecto
sDist oce()nc0, as 
i) s"sSCverbosity > 2:[nlogTollnlogpinia "Movut  average:", s"sSCmovut Average
        i) s"sSCverbosity > 1:[nlogTollnlogpinia "Movut  averageidist oce: ", s"sSCmovut AverageDist oce[nlogTollnlogpinia "ModFlimecto
ssdist oce: ", s"sSC modFlVecto
sDist oce
        i) s"sSCaddModFls:[nlogsssslllls"sSCupdateModFlVecto
s()nc0, as 
s"sSCupdateWinneri)nc0, 3.) setMovut Average(l"sS):[nlogssss"""
        D.t1rmise movut  average.[nlogssss"""
        s"sSCmovut Averages=saverageVecto
(s"sSCbuffer.cortents)nc0, 3.) setMovut AverageDist oce(l"sS):[nlogssss"""
        How closesisitse)movut  averageito che)Lurrlifninputs?[nlogssss"""
        s"sSCmovut AverageDist oce = getDist oce([s"sSCmovut Average], s"sSCbuffer.cortents, s"sSCmask)nc0, 3.) setModFlVecto
sDist oce(l"sS):[nlogssss"""
        How closesaresR)modFlimecto
ssto che)Lurrlifninputs?[nlogssss"""
        if Sen(s"sSCmodFls)n!=.0:[nl    ogTo].s"sSCmodFlVecto
sDist oce = getDist oce([vCmecto
 oPC_v in s"sSCmodFls], s"sSCbuffer.cortents, s"sSCmask)nc0,     elncoPCE_HElayaelss"sSCmodFlVecto
sDist oce = s"sSCepsil.li+gs"sSCdeltanc0, 3.) updateModFlVecto
s(l"sS):[nlogssss"""
        Update_modFlssmecto
ssosedsmovut  averageiifitse)movut 
        averageiisitse)best)modFlioTolhe
inputs.[nlogssss"""
        i) s"sSCmovut AverageDist oce <= s"sSCepsil.li oas\s s):nc.lllllss s"sSCmovut AverageDist oce <= s"sSCmodFlVecto
sDist oce -gs"sSCdeltaoPCE_HElayaelss"sSCmodFls.addItem(s"sSCmovut Average)s s):nc.lllllnn.F =ss"sSCmodFls.nn.Fs[-1]PCE_HElayaelss"sSCnewModFlVecto
 =.(nn.F, s"sSCmovut Average)PCE_HElllaelsi) s"sSCverbosity > 1:[nlogTollnlogggggpinia '***Addut smodFlimecto
***'[nlogTollnlogggggpinia 'Uniquelnn.F',lnn.F[nlogTollnlogggggpinia 'Movut  avgsdist', s"sSCmovut AverageDist oce[nlogTollnlogggggpinia 'ModFlimecsdist', s"sSCmodFlVecto
sDist oce
        aelsi) s"sSCverbosity > 2:[nlogTollnlogggggpinia 'NewsmodFlimecto
', s"sSCmovut Averagee[nlog3.) updateWinneril"sS):[nlogssss"""
        Calculateitse)Lurrlifnwinner based on which modFlimecto
:isnc0, as 
closeststo che)movut  average.[nlogssss"""
        min =.[]nc0,     oPC_m in s"sSCmodFls:[nlogssssssssmin.applsd(euclideanDist oce(mCmecto
, s"sSCmovut Average, s"sSCmask))nc0, as 
i) min ==.[]oPCE_HElayaelss"sSCwinner =s'NorWinner'[nlogTo].elncoPCE_HElayaelss"sSCpreviousWinnerIndex=.s"sSCnewWinnerIndexPCE_HElayaelss"sSCnewWinnerIndex = Numeric.argmin(min)
        aelsi) s"sSCpreviousWinnerIndex ==.s"sSCnewWinnerIndex:[nlogTo].To].To].s"sSCwinnerCuurt += 1eyeinikeyas 
elncoPCE_HElayaelssssss"sSCwinnerCuurt = 0[nlogTo].....winner =ss"sSCmodFls[s"sSCnewWinnerIndex][nlogTo].....winnerCcuurter += 1eyeinikeyas 
#i) winnerCmaxSe(1 != -1:[nlogTo].....winnerCaddItem(s"sSCbuffer[0])s s):nc.llllls"sSCwinner =swinnerCmecto

nlog3.) dist oceMap(l"sS):[nlogssss"""
        Calculateidist oce_map.[nlogssss"""
        map =.[]nc0,     oPC_x,)y in [(xCmecto
,yCmecto
) oPC_x.in.s"sSCmodFlssoPC_y in s"sSCmodFls]:[nlogssssssssmap.applsd(euclideanDist oce(x,y,s"sSCmask))nc0, as 
HEct ) mapP[nlog3.) __str__il"sS):[nlogssss"""
        To displsysr vq)justscall pinia .[nlogssss"""
        s =.""
        s +=s"Settut s:\n"
        s +=s"Deltao "i+gstr(l"sSCdelta)i+g" Epsil.lo "i+gstr(l"sSCepsil.l)i+g" Buffer
Se(1o "i+gstr(Sen(s"sSCbuffer))i+g"\n"
        s +=s"Timeo "i+gstr(l"sSCtime)i+g"\n"
        i) s"sSCverbosity > 
:[nlogTollnlogs +=s"Movut  averageidist oce: "i+g."%4.4f "]%ss"sSCmovut AverageDist oce +g"\n"
        nlogs +=s"ModFlimecto
ssdist oce: "i+g."%4.4f "]%ss"sSCmodFlVecto
sDist oce +g"\n"
        nlogs +=s"Movut  average:\n"
        nlogs +=s"sss"i+gstrnngArray(s"sSCmovut Average)PCE_HElllaelss +=s"List
winnut smodFlimecto
:\n"
        nlogs +=s"sss"i+gstrnngArray(s"sSCwinner)e        nlogs +=ss"sSCbufferStrnng()nc0, as 
s +=ss"sSCmodFlStrnng()nc0, as 
i) s"sSCprniaDist oce:[nlogTollnlogs +=s"Dist oce_map:\n"
        nlogs +=sl"sSCdist oceMapAsStrnng()nc0, as 
i) s"sSCverbosity > 
:[nlogTollnlogs +=sstr(l"sSCmodFls)nc0, as 
HEct ) s

llll3.) dist oceMapAsStrnng(l"sS):[nlogssssHEct ) strnngArray(s"sSCdist oceMap(), 1, Sen(s"sSCmodFls), oPCmat="%4.2f ")e[nlog3.) saveRAVQToFile(l"sS, filenn.F):[nlogssssim s)nTpickle
        fp = open(filenn.F, 'w')nc0, as 
pickle.dump(l"sS, fp)nc0, as 
op.close()e[nlog3.) loadRAVQFromFile(l"sS, filenn.F):[nlogssssim s)nTpickle
        fp = open(filenn.F, 'r')nc0, as 
s"sS = pickle.load(fp)e[nlog# helpful strnng methods, s"e __str__ methodsoPC_use.[nlog3.) modFlStrnng(l"sS):[nlogsssss =.""
        cifn= 0nc0, as 
totalCuurt = 0[nlogTo].totalIncompatibility = 0.0nc0, as 
oPC_m in s"sSCmodFls:[nlogsssssssss +=s("%4drModFl: "]%scit)i+gstrnngArray(mCmecto
) [nlogsssssssssumi= 0.0nc0, as 
as 
oPC_b in m.cortentsoPCE_HElayaelssssssumi+=seuclideanDist oce(mCmecto
, b, s"sSCmask)nc0,     To].totalIncompatibility +=ssum
        nlogs +=s"sss  Cuurt: %diBuffer
se(1o %diIncompatibilityo %f\n"]%s(mCcuurter, Sen(m.cortents), sum)nc0,     To].totalCuurt += mCcuurternc0,     To].cifn+=s1c0,     To].[nlogssssHEct ) ("%drModFlimecto
s:\n"]%scit)i+gs +g"Total)modFlimecto
ss o %d\nTotal)mappldimecto
sso %d\nTotal)incompatibilityo %f\n"]%s\s s):nc.lllllss (cnt, totalCuurt,.totalIncompatibility)nc0, 3.) bufferStrnng(l"sS):[nlogsssss =."Buffer:\n"
        oPC_array:in s"sSCbuffer:[nlogTollnlogs +=sstrnngArray(array)nc0, as 
HEct ) s

crissrARAVQ(RAVQ
:[nlog"""[nlogExsssdsrRAVQ as[described in Linakss[ oasNikrisson.[nlog"""[nlog3.) __init__il"sS, bufferSe(1, epsil.l,)delta,shiltorySe(1, Searnut Rate):[nlogasogs"sSCalpha =)Searnut Rate[nlogasogs"sSCdeltaWinner =s'NorWinner'[nlogTo].s"sSCSearnut  = 1eyeinikeyRAVQ.__init__il"sS, bufferSe(1, epsil.l,)delta,shiltorySe(1)
    3.) __str__il"sS):[nlogsssss =.RAVQ.__str__il"sS)nc0, as 
HEct ) s[:10] +y"Alpha (Searnut  rate): "i+gstr(l"sSCalpha)i+g" "i+gs[10:][nlog3.) setLearnut (l"sS, midue):[nlogasogs"sSCSearnut  = middl[nlog3.) updateDeltaWinner(l"sS):[nlogssssi) ]""ns"sSCwinner ==s'NorWinner':[nlogTollnlogi) s"sSCverbosity > 3:[nlogTollnlogggggpinia 'MA oaW' ,seuclideanDist oce(s"sSCmovut Average, s"sSCwinner, s"sSCmask)nc0,     To].ggggpinia 'MA' ,s s"sSCmovut AverageDist oce[nlogTollnlogggggpinia 'MV' ,s s"sSCmodFlVecto
sDist oce
        aelsggggpinia 'MVMD' ,s s"sSCmodFlVecto
sDist oce -gs"sSCdelta[nlogTollnlogi) euclideanDist oce(s"sSCmovut Average, s"sSCwinner, s"sSCmask) <
s"sSCepsil.li/ 2:[nlogTollnlogggggs"sSCdeltaWinner =ss"sSCalpha * (s"sSCmovut Average -)l"sSCoinner)e        nlognlogi) s"sSCverbosity > 4:spinia:'Learnut '[nlogTollnlogelncoPCE_HElayaelssssss"sSCdeltaWinner =sNumeric.zeros(Sen(s"sSCoinner)) [nlogsssselncoPCE_HElayaelss"sSCdeltaWinner =s'NorWinner'[nlog3.) learnil"sS):[nlogssss"""
        Only updatessR)modFlimecto
, ]""nRswinnerCrWinner osllichange
        sixtstime step anyway.[nlogssss"""
        i) s"sSCdeltaWinner !=s'NorWinner'  oass"sSClearnut :[nlogTollnlogi) s"sSCverbosity > 2:spinia:"LEARNING: was:", s"sSCmodFls[s"sSCnewWinnerIndex]Cmecto
, "deltao", s"sSCdeltaWinnerPCE_HElayaelss"sSCmodFls[s"sSCnewWinnerIndex]Cmecto
 +=sl"sSCdeltaWinnerPCE_HElayelncoPCE_HElayaelspissr[nlog3.) process(l"sS):[nlogssss"""
        Hreswe addslhe
new)Searnut  methods.[nlogssss"""
        RAVQ.process(l"sS)[nlogasogs"sSCupdateDeltaWinner()nc0, as 
s"sSClearni)

i) __nn.F__ == '__msn __':[nlogpinia:"Creatut  arRAVQ usut sall possible listsroTo8 bits"[nlogpinia:"------------------------------------------------------------"[nlogbitlist =.makeBitList()nc0, #parn.Fterssaresbuffer
se(1, epsil.l,)delta,s oashiltory.se(1[nlogr vq)=.RAVQ(4, 2.1,)1.1,)5)[nlog#r vq.setVerbosity(2)
nlogoPC_bitssin bitlist:[nlogssssH vq.input(bits)[nlogpinia:H vq[nlogpinia:"Dist oce_map:"[nlogpinia:H vqCdist oceMapAsStrnng()n[nlogpinia:"Creatut  an adapcaveiRAVQ usut sall possible listsroTo8 bits"[nlogpinia:"------------------------------------------------------------"[nlog#parn.Fterssaresbuffer
se(1, epsil.l,)delta,shiltory.se(1,  oasilpha (Searnut  rate)[nlogr vq)=.ARAVQ(4, 2.1,)1.1,)2, .2)[nlog#r vq.setVerbosity(2)
nlogoPC_bitssin bitlist:[nlogssssH vq.input(bits)[nlogpinia:H vq[nlogpinia:"Dist oce_map:"[nlogpinia:H vqCdist oceMapAsStrnng()n[nlogpinia:"Creatut  aiRAVQ usut sa sequeoce o) real-middld lists"[nlogpinia:"------------------------------------------------------------"[nlogseq =.makeNoisySequeoce([[0.0, 0.5,)1.0],)E%T w't,as 

=,"*************[0.5,)0.5,)0.5],)E%T w't,as 

=,"*************[1.0, 0.1, 0.1],)E%T w't,as 

=,"*************[0.9, 0.9, 0.9],)E%T w't,as 

=,"*************[0.3, 0.3, 0.8]],)5, 0.05)[nlogr vq)=.RAVQ(4, 2.1,)0.5,)2)[nlog#r vq.setVerbosity(2)
nlogoPC_isin r thr(Sen(seq)):[nlogssssH vq.input(seq[i])s s):pinia:H vq[nlog[nlogpinia:"Teststhe)maskut scapability  oasdist oce_measures"[nlogpinia:"------------------------------------------------------------"[nlogpinia:"masko", H vq.mask[nlogpinia:"Testsmaskut sfunctumsality ineeuclidean)dist oce calc's:", [nlogpinia:euclideanDist oce(Numeric.array([1,2]),)E%T w't,as 
lllllllll,asssssNumeric.array([3,5]),)E%T w't,as 
lllllllll,asssssNumeric.array([1,0]))[nlogpinia:H vq[nlogpinia:"Savut  to file..."[nlogr vq.saveRAVQToFile('test.r vq')[nlogpinia:=Loadut s1rLabfile..."[nlogr vq.loadRAVQFromFile('test.r vq')[nlogpinia:=Comparnng afterosave..."[nlogpinia:H vq[nlogpinia:"Done testnng!"[pyrobot/b
sn /seqXor.py0100755000076400003100000000515110426372772015201 0ustar  dblankfaculty__auedBr__ = "Dougris Blank "
__versums__ = "$Revisums: 1.8 $"

1rLabpyrobot.b
sn .corxsim s)nT*
im s)nTr tdom
[3.) xo
(a,b):[nlogi) a  oasb:gHEct ) 0nc0, i) ]""na  oas]""nb:gHEct ) 0nc0, HEct ) 1[
3.) ratdomBit():[nlogrEct ) int(r tdom.r tdom()*2)P[3.) sequeotialXor(l,)limit):[nlogstep = 1eyeintotalErr1 = 0[nlogtotalErr2 = 0[nlogtotalErr3 = 0[nlogLurrlifn= ratdomBit()[nlogn.setCuntixt()[nlogwhile step <)limit:[nlogssssi) ]Cinssraccave:[nlogTollnlogpinia "***** Step %dA *****"]%sstep[nlogssssn.getLayer('input').LopyAccavatumss([Lurrlif])s s):nc.lsixts= ratdomBit()[nlogssssn.getLayer('mutput').LopyT= sets([sixt])s s):nc.l(er
o
, corrlct,.total, pcorrlct)n=snCstep()[nlogssssn.getLayer('cuntixt').LopyAccavatumss(n.getLayer('hidden').accavatums)[nlogsssser
1 = er
o
[nlogssssi) ]Cinssraccave:[nlogTollnlogpinia "***** Step %dB *****"]%sstep[nlogssssn.getLayer('input').LopyAccavatumss([sixt])s s):nc.lrEsult =.xo
(Lurrlif,sixt)[nlogssssn.getLayer('mutput').LopyT= sets([rEsult])s s):nc.l(er
o
, corrlct,.cuurt,.pcorrlct)n=snCstep()[nlogssssn.getLayer('cuntixt').LopyAccavatumss(n.getLayer('hidden').accavatums)[nlogsssser
2 = er
o
[nlogssssi) ]Cinssraccave:[nlogTollnlogpinia "***** Step %dC *****"]%sstep[nlogssssn.getLayer('input').LopyAccavatumss([rEsult])s s):nc.lLurrlifn= ratdomBit()[nlogssssn.getLayer('mutput').LopyT= sets([Lurrlif])s s):nc.l(er
o
, corrlct,.cuurt,.pcorrlct)n=snCstep()[nlogssssn.getLayer('cuntixt').LopyAccavatumss(n.getLayer('hidden').accavatums)[nlogsssser
3 = er
o
[nlogsssstotalErr1 = totalErr1 +ser
1[nlogsssstotalErr2 = totalErr2 +ser
2[nlogsssstotalErr3 = totalErr3 +ser
3[nlogssssi) step % n.re s)nRate == 
:[nlogTollnlogpinia "Epoch: #%6d Average er
o
s =.%.3f.%.3f.%.3f"s\s s):nc.lllllss    % (step, totalErr1/step, totalErr2/step, totalErr3/step)nc0, as 
step = step + 1eyeinpinia "Epoch: #%6d Total)Average er
o
s =.%.3f.%.3f.%.3f"s\s s):nc.lll% (step, totalErr1/step, totalErr2/step, totalErr3/step)nc0, nc0, ni) __nn.F__ == '__msn __':[nlogpinia:"Sequeotial_XOR)modFlld afteroElman's experimlifi..........."[nlogpinia:"The
network osllis"e a r tdom 1 or 0, oPllowcd by_a]""her"
nlogpinia:"r tdom 1 or 0, oPllowcd by_"heiC_XOR midue.  Tsereforesmsly"
nlogpinia:"R secund mutputiisipredictable so lsat_er
o
 sdBuld_be lowcr."[nlogn =.SRN()[nlogn.addSRNLayers(1,5,1)[nlogn.setEpsil.l(0.25)[nlognCsetMomlifum(0.1
[nlognCsetBatch(0
[nlognCsetSequeoceTHEl("epoch"
[nlognCsetRe s)nRate(100)s s):nCsetLayerVerificatums(0) # ct ) of) automatuc_er
o
 checkut 
    sequeotialXor(l,)100000)[nlogpinia:=T
sn ut scomplete.  Testser
o
 agsn ....................."s s):nCsetLearnut (0)[nlogsequeotialXor(l,1000)[pyrobot/b
sn /seqXor2.py0100755000076400003100000000416010426372772015262 0ustar  dblankfaculty# TestsofoElman-style XOR isoliml. 

__auedBr__ = "Dougris Blank "
__versums__ = "$Revisums: 1.6 $"

1rLabpyrobot.b
sn .corxsim s)nT*
[3.) xo
(a,b):[nlog""" XOR oPC_floatut sponia:numbsssg"""[nlogi) a < .5  oasb < .5:gHEct ) 0.2[nlogi) a > .5  oasb > .5:gHEct ) 0.2[nlogHEct ) 0.8[
3.) ratdVid():[nlog""" R tdom 0 or 1,srEpressntld as 0.2  oas0.8,srEspeccavely. """[nlogi) r tdom.r tdom() =dom aro
_s)ia:" 3.) bufferStrnng(AVQ(4_sd+nlo=dom arHEln=ia:" 3.) bufferStrnng(AVQ(4_yog yC 3:[nltranslatei=:rmisests  ecifslHEct ) sni    .keys(t ) HEcvalPn, as#154ni    [u]useto
gsrul pen(f4o
gsrul t(' ')nc0, as sstranslatei=Cm1r thr(rearnudesirestsin n# iran-----desirest(ir.[ntdom btse)diodFli   u)un)_v in vom ar2.1,)1.[2] = earnu2.1,)1.[1]_v in vom ar2.1,)1.[1] = earnu2.1,)1.[0]_v in vom ar2.1,)1.[0][soPC_v in vom areffe""s __':[soPC_v in vecifslHEct ) sni    .keys(t ) HEcvalPn"sSCnewWni    [u]usi  uueo=a1 ) HEcvalPn, as#154ni    [u]u)ungwhile (l#-desires: truculslogsrulletinner(llengadlise()beh[nlogToi   bble
      logsrulssoPC_v in v#se)di----tial_TrucuFls)n0inia:"Seffe""sls)n0_v in vtial_TrucussoPC_v in via:"Seffe""slsoPC_v in vecifclHEct ) so
gsrul .keys(t ) HEcvalPntial_Trucu[ctdome(0) HEcvalPntial_effe""s[ctdome(0) HEcvatalErlHEct ) seffe""s __':.keys(t u#lifnte:beh:logsrullet(' ')nc0, a    ncdomnt(rows
n:logssss):nc.tial_effe""s[ctdommax(sssssst ) seffe""s __':[e]),.tial_effe""s[ctwhile (l#-.totupntial_Trucu) HEcvatalEdlHEct ) sdesires: gssss):nc.#ep = 0[nltial_ trucuatalErory.logsrullet(' ')nc0, tial_Trucu[d[1]]Slosd[E] tdst ) seffe""s __':[d[5]+":"+d[4]+":"+d[1]]S/.tial_effe""s[d[1]])_v in vom arpietsin r thr(rtalEdlHEct ) sdesires: gssss):nc.#e(beffe""S/.tial_effe""]SCvetrucua/.tial_trucu]SCvinner ==s'     l(=.t[ge)PCE_HEllls.[nial_Trucu[ctdCmecto
 oPC_v in spn= l= ((d[E]*st ) seffe""s __':[d[5]+":"+d[4]+":"+d[1]]/tial_effe""s[d[1]]))/nial_Trucu[ctogssss):nc.       Hreswe addslrnlogTo].....winamt =.glrnl*.t[2e)PCE_HElllom arpietInputs( [d[1],dst ) seffe""s __':[d[5]l+ ": midd[4]l+ ": midc]S/.tial_effe""s[cnia:H vq[nlogpinia:"Savut  to fglrn,.t[2e,namta:H vq[nlogpinia:"Savut  to fd[5]l+ ": midd[4]l+ ": midd[3] ]t)n=snCsweels.[clHEclogsrul.keys(t ) HEcvalPn, alogsrul[ctdlosamtgssss):nc.       Hreswe addlogsrul[ctdosamtgssss):ecifclHEct ) so
gsrul .keys(t ) HEcvalPns.[clHEclogsrul.keys(t ) HEcvalPn, a#se)dis(1,5logsrulletls)nSst)modavinner ==s'     , a#l s"sSCsil.lo  %s:s)ninner %equeo(c,dlogsrul[ct)) HEcvalPnlont ) so
gsrul [ct(logsrul[ct)) HEcvalPnlont ) s2.1,)1.[0][ctdoslogsrul[cthile (l#-:"masko", H vq.mask[nlogpinia:"Testsmaskut sfuncthile (l#-Tr.[ntdom msn __e) a  's----i""[nlyers(1,5----GUIhile (l#-crrayraw in,.ery,)sity ep =m    .[nm() :s)nmovehile (l#-----) a  o hile (l#-:"masko", H vq.mask[nlogpinia:"Testsmaskut sfuncthile (lt ) so
gsrul ['msn __']gwhile (l#-:"masko", H vq.mask[nlogpinia:"Testsmaskut sfuncthile (l#-le 's-ecicor 00.1saeaklyers(1,5w      goia:=Loahavehile (l#-aragest 10 cyclestpereers(1,hile (l#-ag) 0nrovelss :[nlo .[ntdomc ratdVid()#-:"masko", H vq.mask[nlogpinia:"Testsmaskut sfuncthile (l_verssls)nRe(01while (l#- s"sSC ri    'ani  uuesityerni)arygssss):ecifslHEct ) sni    .keys(t ) HEcvalPntalEdlHEct ) sni    [u]uder1 +seret oce #der1 +sere first) HEcvalPnlont ) sder1 +serepd)) HEcvalPntalEalHEct ) sni    [u]ur1 +seret oce) HEcvalPnlont ) sr1 +serepat(' ')nc0, as ssni    [u]ur1 +seret oc sin r thr(runct ) sni    [u]uder1 +seret oc sin r thnlogseop_---'urrlifnwinnerecifclHEct ) so
gsrul .keys(t ) HEcvalPn#se)dis(1,5logsrulletls)nSst)modavinner ==s'     t ) so
gsrul [ct(0elnc0s0.8, (t AvlHEct ) sr1 +seret oc)   Hreswe om arr1 +seret octInputs([nlo.applNorWder1 +serepen(fili, "r")nc0, asity > (t AvlHEct ) sder1 +seret oc)   Hreswe om arder1 +seret octInputs([nlo.applNorWonA1 +serepurrlifnwinnercifn_v inlogsetu('urrlifnwinnercifn+= ywrmialyntdom overe..., 0.nlogonDer1 +serepen(fifnwinnercifn+= ywrmialyntdom overe..., 0.nloginner')ods.[nlogsssst ) sni)nRate =nlogser('urrlifnwinnercifn+= ywrmialyntdom overe..., 0.nlogrSecally abr")nc0, asitbut AvlHEct ) sbehaviors.keys(t ) HEcvalPnse "ERROR:nbeh al."s y ex----: ' midbut Avl+ "'")nc0, a       Hreswe om arbehaviors[but Av] =ab)nc0, a# kenneri) a >etls)npa     mng}
 :[nlo----beh:)nc0, abumng}
  = earnueng}
 lise_=.buasb:g)= earnueng}
 uasb:glise_=.bu) a   = earnueng}
 u) a  lise_=.# kenneri) a >etls)npa     
o   , :[nlo----beh:)nc0, abus s):nc.s#15)nc0, abusetupgwn# iran-----behavior, ju---o   ) HE, asitbuni  uu ) HEcvalPn.r vq')er
o
[nla:=ni   
'%s'"")sinpbut Av) HEcvalPnbuonA1 +serepelnc0s0.8seto
gsrul pen(flelogsrular")nc0, as#154o
gsrul ssologsruln_v inlog)ungurrlifnwinnerecifbkeylHEct ) sbehaviors.keys(t ) HEcvalPnb = earnubehaviors[bkeye)PCE_HEllls.[buni  uu ) HEcvalPn_=.bu)gadstsin n# cq.seengads) HEcvalPn_=.bumsn __(+= firestIFengads) HEcvalPn_=.ecif2
HEcbu)gadse()e):nc.lc.llise# ryogtruculslogsrulletinam s"s()beh n=.( ani  " t Av) HEcvalPnnnnnnnr.elog3s(sb_n=.( abus s):.n=.(])
 HEcvalPnnnnnnnoPCE_asb:gHdesirestInputs( r )
 HEcvalPnnnnnnn#[l  .[n----logsrulletleffe""SlogTor.[ns s):behavior?
 HEcvalPnnnnnnnoPCE_asb:gHeffe""s __':[bus s):.n=.(+":"+b.n=.(+":"+r[1]]S=abumffe""s[r[1]])nc0, as#154msn __(_v inlogpushcally ani  "i, "nc.Averr")nc0, ai r
o   t Avl=c.Aver ) HEcvalPn
o   i, "nc.nPCE_n=.()nc0, ai r
o   t Avly > HEct ) sasb:gHni     ) HEcvalPnse Attributel)er
o
"push:ogrEct neridani  " t Av
'%s'])s s)   bble
      t ) sasb:gHni cktInputs( 
o   t Avl_v inlogpo('urrlifnwinnersit[nlogTol_asb:gHni ck) >ecto
 oPC_v i
ss oS s):nc.s#154asb:gHni cktpo('t(' ')nc0, as ssCoto:
ss oS s):t(' ')nc       Hreswe se Attributel)er
o
"popst)mo,1) agpushiodFli   
'%s'])s sPCE_n=.()
nnn#[lrInpudFl[nlooascualkoascnloasets) a   ) HEnlogmovecally a*arg   pinia "
ss o keyas) a  omovec*arg  
nnnnlog  lise_=.cally a*arg   pinia "
ss o keyas) a  o  lise_=.c*arg  
nnnnlog)s s):cally a*arg   pinia "
ss o keyas) a  o)s s):c*arg  
nnnnlogseop'urrlifnwinner
ss o keyas) a  oseop' 
nnnnlogseartDevicecally a*arg **keyword   pinia "
ss o keyas) a  oseartDevicec*arg **keyword  lnc0s0.8,etes :[nloco8 bus
#-:"masko", H vq.mask[nlogpinia:"Testsmaskut sfunctt sfuncth= ir.[n.[ndesignbufto a:"r i,)E%dirtmpCmygserucss e[l nlooyouifclobje""
#o8 bus     1,)1bufferue.  Ts%dirtmpCmy,st)modans"sdeputsetesmaBiexa 
#-logs:nCsetL)gadsttalErory.obje""o8 bu"" R a 'cq.sn'L)gad,     ----
# a >ete (.i)o8 bu"fer----dirtmpCmygt)modir.[nkeBiexa 1(log]id r-
# atoyouifpython/c a >ete proje""odirtmpCmy)
#
# TARGET .[n----resar 0,so exa 1ecifssg"""ia:=Loapython
# INTERFACE .[n----a >ete (.i)o8 bu
# MYOBJS .[naft oc offclobje""o8 bus feryouifclproje""odirtmpCmy
# OBJDIR .[n----ree_=ive ps"spLoayouifclproje""odirtmpCmyoascuhu
#   a >ete proje""odirtmpCmy

OBJS=_c,so
INTERFACE=_pak.i
MYOBJS:=_devs.o lvq_pak.o _rout.o nera8 bu.o exa io.o s :[nlo.o labels.o
OBJLIB=_pak-dev

include ../../../MeBiexa .cfg
include ../../../MeBiexa .src

CC=gcc
SWIG=swig
#On[075ux setku---be gcc,lyeryou urrla shared[07ry :\n" attoffa
#ni   = midd075ked[one.-:" WKV 2-07-28
#LD=ld
LD=$(CC)
CC_FLAGS=-c -g -I $(PYTHON_INCLUDE)
SWIG_FLAGS=-python
LD_FLAGS=-shared

MYOBJS:=$(ps"sub---%.o, $(OBJLIB)/%.o, $(MYOBJSed l$(OBJSifl$(INTERFACE:.i=_lrIn.o) $(MYOBJSe 
	$(LD) $(LD_FLAGS) $^ -o $@ l$(INTERFACE:.i=_lrIn.o)fl$(INTERFACE:.i=_lrIn.c) $(MYOBJS:.o=.h)
	$(CC) $(CC_FLAGS) $(INTERFACE:.i=_lrIn.c) $(PYTHON_INCLUDE) -I$(OBJLIB) l$(INTERFACE:.i=_lrIn.c)fl$(INTERFACE)
	$(SWIG) $(SWIG_FLAGS) $< l$(OBJLIB)/%.o: $(OBJLIB)/%.c $(OBJLIB)/%.h
	(cd $(OBJLIB) &&tkeBit$(@F))n

il.sn::
	$(RM) -f $(OBJSi *.o *.html *.doc $(INTERFACE:.i=_lrIn.c) tixe test*.cod $(OBJLIB)/tixe c
	(cd $(OBJLIB) &&tkeBitil.sn) l
= yw   s[nlyemetkeBitdes:nl :r#-:"masko", H vq.mask[nlogpinr#-:=nvadieoce e =ign1r" s a:"r liBita nwrmia language;r#-= .[nafrtmu:[nve vadieoce e =ign1r" r#-::i---"sSCminutsdef[ni""[ns
#
# $(ps"subrla    nc)E
ss o[nafseria:=t)modall :\n"
   s  oce < ps">etn
#   'a'secund fer'c'L)alsn=sdabyE'b'
# $(vadt Avoa=b)E
ss o[nafseria:=t)modall :\n"
   s  oce < seria:='a'
#   )alsn=sdabyE'b'"fer----vadieoce vadt Av)
# avislut d ferps">etnoss"chia:=i,)E%fairly :\tui=ive manner
#
# $@ .[n----urrlofnafrubu
# $(@F) .[nju-------exa 1glrnl oce < urrlofnafrubu (yers(1,5talEalrubu
# inn"ir/8 bu.o, $(@F) .[nequival() :s)n8 bu.o)
# 
psom/c_src/ex.cod00440613757017237ustar  dblankfaculty5ntHEl, culs,:rows,3.2553 8.24155 -14.1466.-13.1775 405.378 
5.8447 10.7367.-13.1117.-12.565 405.38 
16.8024 18.9073 -8.62379 -9.27885 405.762 
21.5444 22.8883 -6.42213 -7.05 405.601 
23.62 25.1242 -5.65447 -7.14698 405.5 
25.1485 28.3811 -4.9057 -7.29193 405.453 
26.0297 32.9578 -4.53657 -7.5493 405. 
27.1499 36.2124 -4.68071 -7.20156 405.43 
28.9272 38.793 -4.5609 -6.60649 405.539 
30.2534 41.1273 -4.51362 -6.80434 405.485 
31.2735 43.9059 -4.67313 -8.03227 405.97 
32.9922 46.2212 -4.76916 -9.09921 404.66 
5.19963 9.44844.-12.5642 -11.6898 405.434 
10.4894 14.4224.-10.9289.-10.6167 405.349 
20.2521 21.4973 -6.92919 -7.62878 405.567 
24.0592 23.979 -5.9405 -6.51094 405.629 
25.7342 26.7067.-5.19402 -6.44742 405.539 
26.505 30.7665 -4.5843 -6.65448 405.156 
28.0256 33.04 -4.35874 -6.53979 405.35 
30.2964 37.3053 -4.36239 -5.59424 405.132 
31.6004 40.2017 -4.11025 -5.2786 405.553 
32.767 43.2682 -4.21904 -5.47421 405.513 
33.9397 45.7668 -4.47125 -7.44049 405.143 
34.9145 47.5406 -4.76798 -8.6122 404.743 
7.18134 9.8834 -9.38221 -8.7261 405.98 
10.5591 13.342 -8.3669 -7.94038 405.149 
18.379 19.8575 -6.46248 -6.58957 405.75 
23.455 23.5969 -5.32328 -5.6255 405.53 
25.4196 24.9029 -5.554 -5.48918 405.607 
27.7842 28.4871 -4.52117.-5.104 405.52 
29.3324 31.9694 -3.93369 -4.74978 404.83 
31.3321 36.0313 -3.85699 -4.57911 404.63 
33.0341 38.9104 -3.78572 -4.12603 404.768 
34.2613 41.3167 -3.50171 -3.93823 404.879 
36.0354 45.5515 -3.9254 -4.51591 404.94 
37.5462 48.4313 -4.2037.-5.83094 404.353 
13.1607 14.3445 -4.97781 -4.9928 404.583 
17.2869 19.3215 -4.11364 -4.39277 404.656 
20.363 23.2775 -3.503 -3.99677 404.519 
23.895 25.5375 -3.89003 -4.1457 405.06 
26.5352 29.0874 -3.941 -3.4516 404.882 
28.3134 31.3577 -3.63878 -3.28096 404.554 
29.9726 34.2578 -3.33794 -3.12239 404.24 
32.1738 38.2275 -3.19767 -3.16673 404.1 
35.1118 41.7402 -3.02654 -2.96868 403.899 
37.001 44.8814 -3.25012 -3.1761 403.866 
38.7982 48.1987 -3.64283 -3.99266 403.509 
40.1325 50.4313 -3.96873 -4.42918 403.472 
13.9132 14.1831 -3.40133 -3.4539 404.212 
16.4618 17.5978 -3.07335 -3.20419 404.087 
19.4597 22.4483 -2.41813 -2.88171 404.065 
21.953 26.056.-1.6777 -2.20545 404.327 
23.9498 28.6232 -1.91601 -2.09473 404.544 
26.4532 31.5992 -2.01415 -1.88332 404.5 
28.2706 34.2843 -2.13175 -1.82489 404.005 
30.4555 38.1991 -1.96553 -1.45543 403.715 
33.2533 41.9201 -1.91575 -1.42788 403.447 
36.174 44.358 -2.19794 -1.78409 403.106 
40.0012 47.9902 -2.62244 -2.45485 400.948 
41.175 50.4911 -3.45479 -3.41599 401.047 
16.6885 16.5044.-1.68994 -1.8393 403.823 
19.4447 20.8752 -1.46731 -1.44378 403.759 
21.7678 24.6771 -0.683456.-0.918717 404.318 
23.1701 27.1023 -0.29233 -0.623663 404.796 
24.9384 29.9033 -0.144099 -0.255876 404.888 
26.8916 32.863 -0.384 -0.147227 404.454 
29.0211 36.7204 -0.602687 -0.153927 403.91 
32.0978 41.2208 -0.8184 -0.0816977 403.462 
35.418 44.4932 -0.759758 -0.0536985 403.242 
38.4914 47.0257.-1.22806.-0.734732 401.13 
41.9691 50.6261 -2.12469 -1.7954 400.501 
45. 54.3497 -0.978934.-1.22236 400.585 
17.6142 16.4336.-0.344723 -0.675813 404.347 
19.7022 18.5082 0.904857 0.718351 404.266 
22.2085 21.7534 2.12611 2.11459 404.877 
23.5987 24.1117.2.18223.2.31167 405.211 oasets
25.053 26.705 2.22316.2.32119 405.372 
26.9386 29.8117.2.66262.2.69367 405.141 
28.7224.33.1974 2.49547.2.68184 404.697 
31.6605 38.5823 1.44 2.11056 404.082 
34.8234 43.3161 0.658548 1.4341 403.791 
37.6964 46.0711 0.35714 0.934577 403.545 
43.0754 51.9866 0.331577 0.211989 401.415 
45.7574 55.5543 -0.635012 -0.809854 400.614 
20.5742 18.4467.2.32781 1.87488 405.087 oasets
21.79 19.8061 3.1904 2.96284 405.083 oasets
23.1196 21.6252 3.71845 3.6454 405.315 oasets
24.736 23.9628 4.05285 4.15124 405.401 oasets
26.8776 27.0884 4.63439 4.7219 405.24 oasets
28.7958 30.3535 4.81662 4.94741 405.111 oasets
30.9275 33.9989 4.49848 4.8961 404.969 
34.2643 39.9818 2.80818 3.58329 404.404 
37.4544 44.2114 1.67378 2.12062 404.23 
39.6665 47.4255 0.921969 1.11854 403.869 
45.4543 55.2803 0.264083 -0.00898778 402.922 
46.6649 57.057 -0.0563481 -0.395202 402.7 
psom/c_src/ex.dat5725540613757017265ustar  dblankfaculty5 
13.575570 12.656892 -1.424328 -2.302774 404.921600
13.844373 12.610620 -1.435429 -1.964423 404.978180
13.996934.12.669785 -1.384147 -1.830788 405.187378
14.060876 12.755087 -1.378407 -2.020230 404.892548
14.095317.12.877163 -1.363435 -2.072163 404.698822
13.975704.12.888503 -1.351579 -1.832351 404.479889
13.713181 12.836812 -1.338311 -1.997729 403.891724
13.834728 12.809576 -1.333899 -2.002055 403.270264
13.744470 12.770656.-1.343199 -2.241165 402.820709
13.982540 12.697198 -1.372424.-1.922313 402.433960
14.064130 12.691656.-1.377368 -1.752657 403.218475
14.035974 12.764489.-1.354782 -1.970408 402.411560
14.037183 12.913648 -1.322078 -2.069336 402.292755
13.985688 12.954960.-1.345922 -1.613702 404.184143
14.054778 12.941310 -1.384624.-1.703977 399.970612
13.915499 13.089429 -1.313017 -1.429557 399.338287
14.590042 13.462692 -1.290192 -1.537785 399.777039
15.501397 14.348173 -1.275527.-1.680045 399.398071
15.630893 15.530425 -1.280694 -1.917952 400.034485
16.435490 17.209114 -1.35744.-1.094125 399.959900
17.712494 18.899221 -1.241273 -0.840588 400.101593
18.821959 20.326984.-1.172920 -0.44754 400.738281
19.587940 21.481361 -1.07859 -0.072788 400.395752
20.475615 22.537483 -1.028871 -0.033867 401.028748
21.289591 23.90060 -0.880854 -0.18455 401.458344
21.673056 24.723030 -0.81171 -0.208644 401.432739
22.013571 25.735470 -0.754327me(071878 401.266418
22.406721 26.740444 -0.684258 -0.206821 400.961426
23.354475 27.662069 -0.608018 0.005769 401.598053
23.670933 28.595022 -0.597577 -0.063232 402.439911
24.488752 29.459187 -0.546825 0.164685 402.904144
26.052990 30.403269 -0.537382 0.376749 402.657532
26.084076 31.241245 -0.478907 -0.208661 402.161804
25.407419 32.050552 -0.487475 -1.079664 402.070679
25.917599 32.811741 -0.456661 -1.109712 401.736969
25.584444.33.583923 -0.462130 -1.745691 401.345886
25.974791 34.257103 -0.488735 -1.964634 401.397400
26.520786 34.983700 -0.494407 -1.709717 401.537109
27.002375 35.698647 -0.455533 -1.768521 401.779419
27.274006 36.281414 -0.454090 -1.871701 402.130096
27.574127 36.887093 -0.455334.-1.867239 402.24
27.998489 37.405323 -0.468364 -1.735369 402.304993
28.354273 37.960499 -0.44694 -1.580987 401.577148
28.745594 38.594234 -0.422443 -1.375698 401.379547
28.938086 39.124252 -0.372332 -1.020644 401.620697
29.368256 39.695183 -0.217842 -0.579999 401.607971
29.523222 40.088272 -0.134720 -0.874534 401.440002
29.855333 40.54643 -0.056152 -0.582082 401.764648
30.129225 41.087482 0.000267 -0.684207 401.342194
30.350569 41.598507me(025237 -1.087737 401.150391
30.116142 41.985039me(043105 -1.583485 400.389771
30.622221 42.504429me(038709 -1.38661 402.249786
31.288000 42.954220 0.034401 -1.281403 404.86761
31.564089 43.508118 0.024454 -0.913540 404.768768
31.841661 43.917099 e(048930 -0.718494 405.208710
32.250202 44.262054 0.081998 -0.814419 405.239777
32.325500 44.745316.0.120469 -0.794752 405.303040
32.0659 45.78056 0.150686.-0.361822 404.325165
32.743580 45.492115 0.206776 e(048675 404.122589
32.986210 45.762680 0.264278 -0.400946 403.785370
32.791340 45.939537me(346600 -0.873683 403.642700
32.973595 46.169399 e(362662 -1.166941 404.307495
33.027912 46.516262.0.399829 -1.6113 404.559265
33.65040 45.782143 0.376717 -0.284213 404.705597
32.726631 44.333252 0.41645 -1.070500 405.04791
32.134151 43.45700me(349734 -1.459126 404.226288
31.618256 42.537575 0.37884 -0.894157 403.682587
30.526619 41.057735 0.275677 -2.002290 404.347473
29.337902 39.651356 0.181669 -1.796875 404.595886
29.223303 38.793774 0.161825 -1.566418 405.242859
28.641 37.960533 0.113690 -1.790999 405.651428
28.247475 37.292381 0.084793 -0.990403 406.138794
27.824276 36.636230me(353 -0.519344 405.591400
27.472918 36.113213 0.1394 -1.290942 403.597626
26.925934.35.181862.0.17814 -1.218194 402.226013
26.040895 34.024040 0.056714 -1.616887 402.751495
24.864527.33.282715 -0.434 -1.836796 403.353119
24.716303 33.056885 -0.07007 -1.349025 403.122131
24.515398 32.916157 -0.113327.-1.480826 403.714935
24.175316 32.546352 -0.149437 -2.159884 403.940002
23.601984.32.092068 -0.206610 -2.275290 404.542114
23.381966 31.651384 -0.27137 -2.39 404.414703
23.136383 31.111027.-0.346424.-1.937296 404.5632
22.957588 30.787928 -0.35284 -1.92414 405.182281
22.688494 30.457418 -0.381533 -2.542161 406.659882
22.37435 29.920057 -0.459830 -2.56941 406.525970
22.226017 29.465599 -0.5495 -2.491177 406.685272
21.993977 29.019367 -0.612 -2.514103 406.639526
21.701323 28.662312 -0.689302 -2.678812 405.207489
21.522160 28.338367 -0.725495 -2.746741 405.615326
21.149204 27.997774 -0.787649 -3.450070 405.324982
20.84083 27.675 -0.848491 -3.06 404.881226
20.848902 27.365925 -0.896552 -3.354374 404.678284
20.821608 27.082844 -0.970022 -3.243970 404.602966
20.86675 26.6753 -1.03234 -3.041396 404.534882
20.433628 26.520990 -0.975694 -3.70296 404.443726
19.866867 26.206982 -1.004714 -3.748788 404.847198
20.079170 25.997751 -0.994004 -3.454278 404.861786
19.725649 25.558435 -1.067093 -3.656 404.675232
19.714252 25.405750 -1.055017 -3.517215 404.111969
19.708664 25.068966.-1.145323 -3.270255 403.975616
19.534452 24.84657.-1.1825 -2.238168 403.70864
19.690033 24.531954 -1.3761 -3.242250 403.718018
19.444654 24.176611 -1.453114 -3.118675 403.331940
19.476692 23.995413 -1.566094 -3.124347 402.574799
19.711325 23.32708 -1.709607 -2.114174 403.883209
19.825428 23.460386 -1.879315 -3.109307 403.604614
19.321590 23.215366 -2.124830 -2.362543 403.433319
19.593353 23.036093 -2.350620 -2.416265 403.144409
19.514666 22.771753 -2.614965 -2.380893 402.888733
20.133692 22.57972 -2.787280 -2.394276 402.974304
18.692474 22.790731 -2.869703 -2.372916 403.863678
19.59103 23.281914 -2.919848 -2.315736 403.453888
20.03537 23.655661 -3.049165 -1.994124 401.518188
20.174196 23.963152 -3.074355 -1.41633 401.621368
20.502390 24.870605 -3.074491 -1.491676 403.387115
20.910027.26.503277 -3.019355 -1.336471 403.549591
21.688107 27.866396 -2.997154 -1.353920 403.445404
22.277832 28.959120 -2.982291 -1.467847 403.138885
23.008226 29.836613 -2.967898 -0.487305 403.839111
23.921507m30.783499 -2.885969 -0.475024 404.57820
24.535240 31.512510 -2.80517 -0.269733 403.344543
24.556499 32.337051 -2.728226 -0.115098 403.221252
25.175497 33.074974 -2.66174 -0.345573 403.221924
25.459745 33.892715 -2.621514 0.015511 403.437683
25.998451 34.57508 -2.568561 0.198798 403.494873
26.570028.35.265377 -2.498961 0.070000 403.434692
26.872450.35.917725 -2.440214 0.055488 403.112549
26.855946 36.325478 -2.375335 -0.050015 402.846619
27.00843 36.592487 -2.339457 0.266231 402.645325
27.451048 36.866722 -2.356309 -0.455793 402.38458
27.682747 37.080692 -2.31001 -0.155092 402.550049
28.566866 38.022312 -2.296710 0.054262 402.972168
28.858711 38.95081 -2.256649 0.435036 403.229187
28.777899 39.478214 -2.217773 0.182432 403.527374
29.089491 39.985802 -2.172914 0.366648 404.166229
29.182577 40.462673 -2.129360 0.691366 403.955750
29.929426 41.061062 -2.80867 1.020633 403.933472
30.513201 41.754410 -2.029129me(8793 403.1947
31.044155 42.266884.-1.974104 1.281869 403.320862
31.032436 42.57553 -1.909464 1.125318 403.882904
31.222628 42.911758 -1.85330 1.072277 403.6546
31.708311 43.367188 -1.792969 1.354341 403.547058
32.111343 43.818684 -1.732984.1.310280 403.601929
32.457272 44.469227.-1.67025 1.17835 402.77
32.786861 44.866131 -1.597111 1.105543 401.727295
32.97344 45.132191 -1.520171 0.052785 400.548615
32.853222 45.319809 -1.444785 0.503969 400.123627
32.529148 45.350193 -1.418128 0.424441 381.56683
31.233921 45.780876 -1.423561 -1.012809 84.988548
31.552483 45.750877.-1.461981 0.113786 402.534180
32.04 45.214321 -1.485153 -0.075820 400.246948
31.947027.44.67655 -1.46190 0.061705 400.837891
31.955458 45.145969 -1.400635 -0.69670 401.594696
32.06901 45.70310 -1.436153 -0.569639 401.66967
32.209488 46.092392 -1.416578 0.140125 401.668976
32.494640 46.520367.-1.376567 -0.111061 401.436768
33.22159 46.460869 -1.417378 0.0694 402.023560
34.038101 46.55042 -1.501179 -0.063157 401.983154
33.822472 46.631149 -1.607161 -0.165482 401.557007
32.967445 46.76697 -1.656182 -1.775941 401.841248
33.017334.47.214088 -1.634720 -1.913279 403.207214
33.845566.47.149532 -1.59363 -1.737872 402.241150
32.250389 44.917229 -1.55453 -0.933493 401.85693
30.844170 42.30604 -1.577387 -1.441208 402.609
29.901407 40.934048 -1.566298 -0.771689 403.383209
29.381336 40.040714 -1.564868 -0.192071 404.142700
29.401468 39.383739 -1.511921 -0.542497 406.113281
29.169752 38.768295 -1.461392 -0.157289 404.651337
28.612719 38.187672 -1.455822 0.371979 403.177704
28.053320 37.473389 -1.389614 -0.3946 403.122559
27.151199 36.135288 -1.521754 -0.749798 403.263245
26.56011.35.033485 -1.639234 -0.239099 403.953583
25.478226 33.873314 -1.736646.-0.773358 403.849487
26.036417 33.302910 -1.812460 -0.928717 404.698578
26.071728 32.757206 -1.861968 -1.454203 405.041809
25.064135 32.763100 -1.837209 -1.608387 404.705048
24.364143 32.875755 -1.763575 -1.936785 404.843018
24.272047 32.676399 -1.687472 -0.651538 405.292206
24.248821 32.299282 -1.606243 -0.864544 405.839630
23.635061 31.687647 -1.515063 -0.83944 405.6578
23.433611 31.094028.-1.433781 -1.608813 405.855682
23.276258 30.871099 -1.38254 -1.039874 405.836853
23.208412 30.428223.-1.348549 -1.235082 405.655518
23.265358 30.214901 -1.241359 -0.032811 406.092010
23.288643 29.777594 -1.219062 -1.286173 406.108917
22.909964 29.412029 -1.228907 -1.286173 405.828796
22.480368 29.065092 -1.238079 -0.624630 405.202332
22.178375 28.720709 -1.202966.-1.122263 405.34009
21.984829 28.481684 -1.133369 -0.792656 405.044189
21.977777 28.13531 -1.153877.-1.144100 404.927765
22.077898 27.811859.-1.142124 -0.550344 405.371582
22.145491 27.47718 -1.089170 -0.483415 404.932861
22.772352 27.256580 -1.144492 -0.142760 405.013397
22.844999 26.982246.-1.137695.-0.3692 404.899719
23.319864 26.729118.-1.131393 0.287189 404.871490
22.421740 26.540897 -1.053273 0.072771 404.440277
22.532818 26.256399 -1.094925 0.36566 404.311646
22.720215 25.997429 -1.126811 0.051349 404.043701
22.013002 25.697510 -1.100614 -0.409021 403.755646
20.996649 25.340971 -1.109998 -0.243838 403.087341
21.640881 24.970999 -1.129690 -0.002152 402.459381
22.212629 24.333979 -1.18393 -0.566185 402.367737
22.628611 24.249035 -1.219352 -0.228113 402.866547
22.387814 24.212099 -1.225704 -0.690430 402.558624
21.922743 24.172998 -1.225620 0.075809 404.017975
21.655819 24.023773 -1.219522 0.207849 401.841919
20.3266 23.931810 -1.184826 -1.239843 402.68237
20.474003 24.365116 -1.153017 0.359981 403.096100
21.615314 24.853607 -1.058492 -0.05440 401.052612
20.979946 25.563835 -1.044916 -0.497218 400.090302
21.672102 27.083984 -0.97998 -0.332883 399.318939
22.698748 28.514261 -0.929250 -0.230098 399.888428
23.489445 29.677235 -0.847520 -0.273455 401.436951
24.613390 30.880791 -0.70493 0.428683 401.40376
24.911945 31.863190 -0.622155 0.24406 401.858887
25.350266 32.749798 -0.551101 -0.049081 402.099365
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pyrobot/brain/psom/csom_src/som_pak-dev/00407952000269200021020000000000491-7625263020372 5ustar  dblankfacultypyrobot/brain/psom/csom_src/som_pak-dev/config.h01 07952000269200021020000007325205061-7347 21966 0ustar  dblankfaculty#ifndef _INCLUDED_CONFIG_H
#define _INCLUDED_CONFIG_H
/************************************************************************
 *                                                                      *
 *  Program packages 'lvq_pak' and 'som_pak' :                          *
 *                                                                      *
 *  config.h                                                            *
 *   - configuration options for SOM/LVQ_PAK                            *
 *                                                                      *
 *  Version 346                                                         *
 *  Date: 1 Mar 19954                                                   *
 *                                                                      *
 *  NOTE: This program package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

/* In files giving an x instead of a value marks that component to be
   ignored in calculations. The default is 'x'. If you want to change
   the string remove the comments around the line below and change it
   to whatever you like. Defining MASKED_VALUE here overrides the
   default in file datafile.h. This value can also be overridden with
   a command line option or with environment variable, see docs for
   details. */

#ifndef MASKED_VALUE
/* #define MASKED_VALUE "x" */
#endif /* MASKED_VALUE */

/* Machine / OS dependent options */

/* Default commands for compressing and uncompressing files in
   environments that support it. Defining these values here override
   the defaults in file fileio.h. These values can also be with a
   command line option or with environment variables, see docs for
   details. */

#ifndef DEF_COMPRESS_COM
#define DEF_COMPRESS_COM "gzip -9 -c >%s"
#endif /* DEF_COMPRESS_COM */
#ifndef DEF_UNCOMPRESS_COM
#define DEF_UNCOMPRESS_COM "gzip -d -c %s"
#endif /* DEF_UNCOMPRESS_COM */

/* options for MSDOS */

#ifdef __MSDOS__
#ifndef MSDOS
#define MSDOS
#endif
#endif /* __MSDOS__ */

#ifdef MSDOS

/* MSDOS doesn't have popen so compression and piped commands don't
   work. Undefine this if you have popen */

#define NO_PIPED_COMMANDS

/* Borland C doesn't have strcasecmp but has the function strcmpi that
   does the same thing */

#define strcasecmp(s1,s2) strcmpi(s1,s2)

#endif /* MSDOS */

/* definitions needed to get the program name in various environments */

/* the character that separates different directories in path name */
#ifndef DIRSEPARATOR
#if defined MSDOS
#define DIRSEPARATOR '\\'
#else /* other OSes */
#define DIRSEPARATOR '/'
#endif 
#endif

/* character that separates the drive part from the directory part */
#ifndef DRIVESEPARATOR
#if defined MSDOS
#define DRIVESEPARATOR ':'
#elif defined __amigados__
#define DRIVESEPARATOR ':'
#else /* other OSes */
/* not used */
#endif 
#endif

/* character that separates the filename suffix from the filename */
#ifndef SUFFIXSEPARATOR
#if defined MSDOS
#define SUFFIXSEPARATOR '.'
#else /* other OSes */
/* not used */
#endif 
#endif

#endif /* _INCLUDED_CONFIG_H */
pyrobot/brain/psom/csom_src/som_pak-dev/VERSION01 07952000269200021020000000064205061-7347 21405 0ustar  dblankfacultysom_pak version 341
pyrobot/brain/psom/csom_src/som_pak-dev/datafile.c01 079520002692000210200000706562071 279915278355 0ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program packages 'lvq_pak' and 'som_pak' :                          *
 *                                                                      *
 *  datafile.c                                                          *
 *   - routines for manipulating codebooks and data files               *
 *                                                                      *
 *  Version 346                                                         *
 *  Date: 1 Mar 19954                                                   *
 *                                                                      *
 *  NOTE: This program package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include "lvq_pak.h"
#include "fileio.h"
#include "datafile.h"

/* open_data_file - opens a data file for reading. Returns a pointer to 
   entries-structure or NULL on error. If name is NULL, just allocates 
   the data structure but doesn't open any file. */

struct entries *open_data_file(char *name)
{
  struct entries *entries;

  lvq_errno = 0;
  
  entries = alloc_entries();
  if (entries == NULL) 
    return NULL;

  if (name)
    {
      if ((entries->fi = open_file(name, "r")) == NULL)
	{
	  fprintf(stderr, "Can't open file %s", name);
	  return NULL;
	}
    }

  return entries;
}

/* alloc_entries - allocate and initialize an entries-structure. Return NULL 
   on error. */

struct entries *alloc_entries(void)
{
  struct entries *en;

  if ((en = malloc(sizeof(struct entries))) == NULL)
    {
      perror("alloc_entries");
      return NULL;
    }

  /* initialize to reasonable values */
  en->dimension = 0;
  en->topol = TOPOL_UNKNOWN;
  en->neigh = NEIGH_UNKNOWN;
  en->xdim = en->ydim = 0;
  en->current = en->entries = NULL;
  en->num_loaded = 0;
  en->num_entries = 0;
  en->fi = NULL;
  en->lap = 0;
  en->buffer = 0;
  en->flags.loadmode = LOADMODE_ALL;
  en->flags.totlen_known = 0;
  en->flags.random_order = 0;
  en->flags.skip_empty = 1;
  en->flags.labels_needed = (!label_not_needed(-1));
  return en;
}

/* copy_entries - create a new entries structure with the same parameters
   as the original. Doesn't copy data_entrys */

struct entries *copy_entries(struct entries *entr)
{
  struct entries *new;

  new = alloc_entries();
  if (new == NULL)
    return NULL;

  new->dimension = entr->dimension;
  new->topol = entr->topol;
  new->neigh = entr->neigh;
  new->xdim = entr->xdim;
  new->ydim = entr->ydim;

  return new;
}


/* read_headers - reads the header information from file and sets the 
   entries variables accordingly. Return a non-zero value on error. */

int read_headers(struct entries *entries)
{
  struct file_info *fi = entries->fi;
  char *iline;
  int dim, sta;
  //int error = 0; /* WKV */

  clear_err();
  /* Find the first non-comment line */
  
  do 
    {
      iline = mygetline(fi);
      if (iline == NULL) {
	//fprintf(stderr, "Can't read file %s", fi->name); /* WKV */
	//return lvq_errno; /* WKV */
	ERROR(fi->error); /* WKV */
	if(lvq_errno) { /* WKV */
	  fprintf(stderr, "Can't read file %s", fi->name);
	  return lvq_errno;
	}
	/* End of file - empty dataset */
	entries->dimension = 0;
	entries->topol = TOPOL_UNKNOWN;
	entries->neigh = NEIGH_UNKNOWN;
	entries->xdim = 0;
	entries->ydim = 0;
	return ERR_OK;
      }
      
    } while (iline[0] == '#');
  
  /* get dimension */
  sta = sscanf(iline, "%d", &dim);
  if (sta <= 0) {
    fprintf(stderr, "Can't read dimension parameter in file %s", fi->name);
    return ERR_HEADER;
  }

  entries->dimension = dim;
  entries->topol = get_topol(iline);
  entries->neigh = get_neigh(iline);
  entries->xdim = get_xdim(iline);
  entries->ydim = get_ydim(iline);

  //return error; /* WKV */
  return ERR_OK; /* WKV */
}

/* skip_headers - skip over headers of a file. Used when a file is re-opened. 
   Returns a non-zero value on error. */

int skip_headers(struct file_info *fi)
{
  char *iline;

  /* Currently all header information is on the first non-comment line, so 
     we just skip it. */

  while ((iline = mygetline(fi)) != NULL)
    if (iline[0] != '#')
      break;

  if (iline == NULL)
    {
      fprintf(stderr, "skip_headers: error reading file %s\n", fi->name);
      return lvq_errno;
    }

  return 0;
}

/* rewind_file - go to the beginning of file to the point where the first
   data entry is. If file is an ordinary file, seeks to the start of file. 
   If the file is a compressed file, closes the old file and runs the 
   uncompressing command again. Returns 0 on success, error code otherwise. */

int rewind_file(struct file_info *fi)
{
  char buf[512];

  if (!fi->flags.pipe)
    {
      /* not a pipe, so assume that it is a regular file */
      rewind(fi->fp);
    }
  else
    {
#ifndef NO_PIPED_COMMANDS
      if (fi->flags.compressed)
	{
	  /* close old process */
	  pclose(fi->fp);
	  /* reopen compressed file */
	  /* Compressed rewind works only for reading */
	  sprintf(buf, uncompress_command, fi->name);
	  fi->fp = popen(buf, "r");
	  if (fi->fp == NULL)
	    {
	      fprintf(stderr, "rewind_file: can't execute command '%s'\n",
		      buf);
	      perror("open_file");
	      return ERR_COMMAND;
	    }
	}
      else
	{
	  fprintf(stderr, "can't rewind piped command\n");
	  return ERR_REWINDPIPE;
	}
#else /* NO_PIPED_COMMANDS */
      fprintf(stderr, "rewind_file: Only regular files supported\n");
      return ERR_REWINDPIPE;
#endif /* NO_PIPED_COMMANDS */
    }
  /* set flags */
  fi->flags.eof = 0;
  fi->error = 0;
  fi->lineno = 0;
  
  /* skip the headers to to go the first entry */
  return skip_headers(fi);
}
	 
/* open_entries - open a data file. Returns a pointer to a ready-to-use 
   entries -structure. Return NULL on error. */

struct entries *open_entries(char *name)
{
  struct entries *entries;
  
  /* open file */
  if ((entries = open_data_file(name)) == NULL)
    return NULL;

  /* read headers */
  if (read_headers(entries))
    {
      close_entries(entries);
      return NULL;
    }

  return entries;
}

/* close_entries - deallocates an entries-file. Frees memory allocated for
   entry-list and closes the file associated with entries if there is one. */

void close_entries(struct entries *entries)
{
  if (entries)
    {
      /* deallocate data */
      if (entries->entries)
	free_entrys(entries->entries);
      
      /* close file */
      if (entries->fi)
	close_file(entries->fi);

      /* free memory allocated for structure */
      free(entries);
    }
}

/* read_entries - reads data from file to memory. If LOADMODE_ALL is
   used the whole file is loaded into memory at once and the file is
   closed. If buffered loading (LOADMODE_BUFFER) is used at most N
   data vectors are read into memory at one time. The buffer size N is
   given in the entries->buffer field. In both cases if there are any
   previous entries in the entries structure, they are overwritten and
   the memory space allocated for them is reused. */

struct entries *read_entries(struct entries *entries)
{
  long noc = 0;
  struct data_entry *entr, *prev, *next;
  struct file_info *fi = entries->fi;

  /* get first entry */
  
  next = entries->entries;
  entr = next;
  if (next)
    next = next->next;

  entr = load_entry(entries, entr);
  prev = entr;
  
  entries->entries = entr;
  if (entr == NULL)
    {
      if (lvq_errno)
	{
	  fprintf(stderr, "read_entries: Error loading from file %s\n", 
		  fi->name);
	}
      return NULL;
    }
  
  noc++;
  do
    {
      /* if buffering is wanted and enough has been loaded */
      if ((entries->flags.loadmode == LOADMODE_BUFFER) &&
	  (noc >= entries->buffer))
	break;
      
      entr = next;
      if (next)
	next = next->next;
      
      entr = load_entry(entries, entr);
      prev->next = entr;
      
      prev = entr;
      if (entr) 
	noc++;
    } while (entr != NULL);
      
  /* deallocate remaining entries in list */
  {
    long freed = 0;
    while (next)
      {
	entr = next->next;
	free_entry(next);
	next = entr;
	freed++;
      }
  }

  if (lvq_errno)
    {
      /* error loading entry */
      fprintf(stderr, "read_entries: error loading entry from file %s, aborting loading\n", fi->name);
      return NULL;
    }

  entries->num_loaded = noc;

  /* If all were loaded, close file */
  if (entries->flags.loadmode == LOADMODE_ALL)
    {
      entries->num_entries = noc;
      entries->flags.totlen_known = 1;
      close_file(entries->fi);
      entries->fi = NULL;
    }
  else 
    {
      /* With buffered loading we dont know the length of the file
	 until it has been read once. The following trys to do this */

      /* if the total length is file is not known, add the number of
	 vectors loaded just now to the total count */
      if (!entries->flags.totlen_known)
	entries->num_entries += noc;

      /* if we are at the end of the file we can stop counting as we
         now know the total length */
      if (entries->fi->flags.eof)
	{
	  entries->flags.totlen_known = 1;
	  if (noc == entries->num_entries)
	    {
	      fprintf(stderr, "read_entries: file %s; size less than buffer size, switching buffering off\n", fi->name);
	      close_file(entries->fi);
	      entries->fi = NULL;
	      entries->flags.loadmode = LOADMODE_ALL;
	    }
	}
    }

  /* Randomize entry order if wanted. */

  if (entries->flags.random_order)
    entries->entries = randomize_entry_order(entries->entries);

  return(entries);
}

 /****************************************************************** 
 * Routines to store codebook vectors                              * 
 *******************************************************************/

/* save_entries_wcomments - saves data to a file with optional comment
   or header lines. Returns a non-zero value on error. */

int save_entries_wcomments(struct entries *codes, char *out_code_file, char *comments)
{
  struct file_info *fi;
  struct data_entry *entry;
  eptr p;
  int error = 0;

  fi = open_file(out_code_file, "w");
  if (fi == NULL) {
    fprintf(stderr, "save_entries: Can't open file '%s'\n", out_code_file);
    return 1;
  }

  /* write header */
  if (write_header(fi, codes))
    {
      fprintf(stderr, "save_entries: Error writing headers\n");
      error = 1;
      goto end;
    }
  /* write comments if there are any */
  if (comments)
    fputs(comments, fi2fp(fi));

  /* write entries */
  for (entry = rewind_entries(codes, &p); entry != NULL; entry = next_entry(&p))
    {
      if (write_entry(fi, codes, entry))
	{
	  fprintf(stderr, "save_entries: Error writing entry, aborting\n");
	  error = 1;
	  goto end;
	}
    }
  
 end:      
  if (fi)
    close_file(fi);
  return error;
}

/* write_header - writes header information to datafile */

int write_header(struct file_info *fi, struct entries *codes)
{
  FILE *fp = fi2fp(fi);

  if (codes != NULL) {
    fprintf(fp, "%d", codes->dimension);
    if (codes->topol > TOPOL_DATA) {
      fprintf(fp, " %s", topol_str(codes->topol));
      if (codes->topol > TOPOL_LVQ) {
	fprintf(fp, " %d", codes->xdim);
	fprintf(fp, " %d", codes->ydim);
	fprintf(fp, " %s", neigh_str(codes->neigh));
      }
    }
    fprintf(fp, "\n");
  }

  /* Some kind of error checking could be added... */
  return 0;
}


/* write_entry - writes one data entry to file. */

int write_entry(struct file_info *fi, struct entries *entr, 
		struct data_entry *entry)
{
  FILE *fp = fi2fp(fi);
  int i, label;

  /* write vector */
  for (i = 0; i < entr->dimension; i++) 
    if ((entry->mask != NULL) && (entry->mask[i] != 0 ))
      fprintf(fp, "%s ", masked_string);
    else
      fprintf(fp, "%g ", entry->points[i]);
 

  /* Write labels. The last label is empty */
  for (i = 0;;i++)
    {
      label = get_entry_labels(entry, i);
      if (label != LABEL_EMPTY) 
	fprintf(fp, "%s ", find_conv_to_lab(label));
      else
	break;
    }
  fprintf(fp, "\n");
  
  /* Some kind of error checking could be added ... */
  return 0;
}

/* initialize and possibly allocate room for data_entry. If entry is NULL, 
   a new entry is allocated and initialized. If entry is a pointer to an 
   old entry, the old entry is re-initialized. Return NULL on error. */

struct data_entry *init_entry(struct entries *entr, struct data_entry *entry)
{
  clear_err();
  if (entry == NULL)
    {
      entry = malloc(sizeof(struct data_entry));
      if (entry == NULL)
	{
	  perror("alloc_entry");
	  ERROR(ERR_NOMEM);
	  return NULL;
	}

      entry->fixed = NULL;
      entry->next = NULL;
      entry->mask = NULL;
      entry->lab.label_array = NULL;
      entry->num_labs = 0;

      entry->points = calloc(entr->dimension, sizeof(float));
      if (entry->points == NULL)
	{
	  free_entry(entry);
	  perror("alloc_entry");
	  ERROR(ERR_NOMEM);
	  return NULL;
	}
    }

  /* discard mask */
  if (entry->mask)
    {
      free(entry->mask);
      entry->mask = NULL;
    }

  /* discard fixed point */
  if (entry->fixed)
    {
      free(entry->fixed);
      entry->fixed = NULL;
    }
  
  clear_entry_labels(entry);
  entry->weight = 0;

  return entry;
}

/* free_entry - deallocates a data_entry. */

void free_entry(struct data_entry *entry)
{
  if (entry)
    {
      if (entry->points)
	free(entry->points);
      if (entry->fixed)
	free(entry->fixed);
      if (entry->mask)
	free(entry->mask);
      clear_entry_labels(entry);
      free(entry);
    }
}

/* set_mask - sets a value in mask */

static char *set_mask(char *mask, int dim, int n)
{
  clear_err();

  if (mask == NULL)
    {
      mask = malloc(dim);
      if (mask == NULL)
	{
	  fprintf(stderr, "set_mask: failed to allocate mask\n");
	  perror("set_mask");
	  ERROR(ERR_NOMEM);
	  return NULL;
	}
      memset(mask, 0, dim);
    }

  if (n >= 0)
    mask[n] = 1;
  return mask;
}
  

/* the string that indicates a vector component that should be ignored */

char *masked_string = MASKED_VALUE;

/* load_entry - loads one data_entry from file associated with entr. If 
   entry is non-NULL, an old data_entry is reused, otherwise a new entry 
   is allocated. Returns NULL on error. */

struct data_entry *load_entry(struct entries *entr, struct data_entry *entry)
{
  int i;
  float ent;
  char lab[STR_LNG];
  char *toke, *line;
  long row;
  int dim, label_found;
  int entry_is_new = !entry;
  char *mask = NULL;
  int maskcnt;  /* now many components are masked */
  struct file_info *fi = entr->fi;
  dim = entr->dimension;

  clear_err();

  /* read next line */
 read_next_line:
  line = NULL;
  while (!line)
    {
      /* get line from file */
      line = mygetline(fi);

      /* The caller should check the entr->fi->error for errors or end
	 of file */

      if (line == NULL)
	{
	  ERROR(fi->error);
	  return NULL;
	}
      
      /* skip comments */
      if (line[0] == '#')
	line = NULL;
    }

  row = entr->fi->lineno;

  /* If entry is given, a new entry is loaded on over the old one. If 
     entry == NULL, room for the new entry is allocated */

  entry = init_entry(entr, entry);
  if (entry == NULL)
    return NULL; 

  maskcnt = 0;
  toke = strtok(line, SEPARATOR_CHARS);
  /* Read the first vector value */
  if (strcmp(toke, masked_string) == 0)
    {
      mask = set_mask(mask, dim, 0);
      if (mask == NULL)
	{
	  if (entry_is_new)
	    free_entry(entry);
	  return NULL;
	}
	  
      maskcnt++;
      ent = 0.0;
    }
  else
    if (sscanf(toke, "%f", &ent) <= 0) {
      fprintf(stderr, "Can't read entry on line %d, component 0\n", row);
      if (entry_is_new)
	free_entry(entry);

      ERROR(ERR_FILEFORMAT);
      return NULL;
    }
  entry->points[0] = ent;


  /* Read the other vector values */
  for (i = 1; i < dim; i++) {
    toke = strtok(NULL, SEPARATOR_CHARS);
    if (toke == NULL) {
      fprintf(stderr, "load_entry: can't read entry in file %s on line %d, component %d\n",
	      fi->name, row, i);
      if (entry_is_new)
	free_entry(entry);
      ERROR(ERR_FILEFORMAT);
      return NULL;
    }

    if (strcmp(toke, masked_string) == 0)
      {
	mask = set_mask(mask, dim, i);
	if (mask == NULL)
	  {
	    if (entry_is_new)
	      free_entry(entry);
	    return NULL;
	  }
	maskcnt++;
	ent = 0.0;
      }
    else
      if (sscanf(toke, "%f", &ent) <= 0) {
	fprintf(stderr, "load_entry: can't read entry in file %s on line %d, component %d\n",
	      fi->name, row, i);
	if (entry_is_new)
	  free_entry(entry);
	ERROR(ERR_FILEFORMAT);
	return NULL;
      }
    entry->points[i] = ent;
  }

  /* Entries with all components masked off are normally discarded but
     they are loaded if the skip_empty-flag is set in the flags of the 
     file. */
    
  if (maskcnt == dim)
    {
      if (entr->flags.skip_empty)
	{
	  ifverbose(3)
	    fprintf(stderr, "load_entry: skipping line %d of file %s, all components are masked off\n", row, fi->name);
	  free(mask);
	  mask = NULL;
	  goto read_next_line; /* load next line */
	}
      else
	ifverbose(3)
	  fprintf(stderr, "load_entry: loading line %d of file %s, all components are masked off\n", row, fi->name);
    }

  if (mask)
    {
      entry->mask = mask;
      mask = NULL;
    }

  /* Now the following tokens (if any) are label,
     weight term and fixed point description.
     Sometimes label is not needed. Other terms are never
     needed */

  label_found = 0;

  while ((toke = strtok(NULL, SEPARATOR_CHARS)) != NULL) 
    {
      if (strncmp(toke, "weight=", 7) == 0) 
	entry->weight = get_weight(toke);
      else if (strncmp(toke, "fixed=", 6) == 0) 
	{
	  if ((entry->fixed = get_fixed(toke)) == NULL)
	    {
	      fprintf(stderr, "bad fixed point, line %d of file %s\n", 
		      row, fi->name);
	      if (entry_is_new)
		free_entry(entry);
	      ERROR(ERR_FILEFORMAT);
	      return NULL;
	    }
	}
      else 
	{
	  if (sscanf(toke, "%s", lab) <= 0) {
	    fprintf(stderr, "Can't read entry label on line %dof file %s\n", 
		    row, fi->name);
	    if (entry_is_new)
	      free_entry(entry);
	    ERROR(ERR_FILEFORMAT);
	    return NULL;
	  }

	  add_entry_label(entry, find_conv_to_ind(lab));
	  label_found++;
	}
    }
    
  if ((entr->flags.labels_needed) && (!label_found))
    {
      fprintf(stderr, "Required label missing on line %d of file %s\n", 
	      row, fi->name);
      if (entry_is_new)
	free_entry(entry);
      ERROR(ERR_FILEFORMAT);
      return NULL;
    }

  return(entry);
}

/* next_entry - Get next entry from the entries table. Returns NULL when 
   at end of table or end of file is encountered. If loadmode is buffered,
   loads more data from file when needed. */

struct data_entry *next_entry(eptr *ptr)
{
  struct entries *entries = ptr->parent;
  struct data_entry *next, *current;

  current = ptr->current;

  if (current == NULL)
    return NULL;
  
  next = current->next;

  if (next == NULL)
    if (entries->flags.loadmode == LOADMODE_BUFFER)
      {
	if (entries->fi->flags.eof)
	  next = NULL; /* end of file, no more lines */
	else
	  {
	    /* load more lines */
	    if (read_entries(entries) == NULL)
	      next = NULL;
	    else
	      next = entries->entries;
	  }
      }      
  ptr->current = next;
  if (next) 
    ptr->index++;
  return next;
}

/* rewind_entries - go to the first entry in entries list. Returns pointer
   to first data_entry. Loads data from file if it hasn't been loaded yet and
   rewinds file if we are using buffered reading. */

struct data_entry *rewind_entries(struct entries *entries, eptr *ptr)
{
  struct data_entry *current = entries->entries;
  struct file_info *fi;

  ptr->parent = entries;

  if (entries->flags.loadmode == LOADMODE_BUFFER)
    {

      /* buffered loading */
      fi = entries->fi;
      if ((fi->flags.eof) || (current != NULL))
	{
	  /* if we are at the end of file, need to rewind the file */
	  if (rewind_file(fi))
	    {
	      fprintf(stderr, "error rewinding file\n");
	      return NULL;
	    }
	}
      
      if (!read_entries(entries))
	{
	  fprintf(stderr, "rewind_entries failed\n");
	  return NULL;
	}
      current = entries->entries;

    }
  else
    {
      /* not buffered */
      if ((current == NULL) && (!entries->flags.totlen_known))
	{
	  /* file not loaded into memory */
	  lvq_errno = 0; /* WKV */
	  if (!read_entries(entries))
	    {
	      fprintf(stderr, "rewind_entries failed\n");
	      return NULL;
	    }
	  current = entries->entries;
	}
    }

  ptr->current = current;
  ptr->index = 0;
  entries->lap++;

  return current;
}

/* free_entrys - Free a list of entries */

void free_entrys(struct data_entry *data)
{
  struct data_entry *tmp;

  for (;data != NULL; data = tmp)
    {
      tmp = data->next;
      free_entry(data);
    }
}

/* copy_entry - Copy one entry (next==NULL) */

struct data_entry *copy_entry(struct entries *entries, struct data_entry *data)
{
  int i;
  struct data_entry *tmp;
  
  clear_err();
  /* allocate memory for the copy */
  tmp = alloc_entry(entries);
  if (tmp == NULL)
    return NULL;

  /* copy data vector */
  for (i = 0; i < entries->dimension; i++)
    tmp->points[i] = data->points[i];

  /* copy labels */
  copy_entry_labels(tmp, data);

  /* copy mask */
  if (data->mask)
    {
      if ((tmp->mask = malloc(entries->dimension)) == NULL)
	{
	  fprintf(stderr, "Can't allocate memory for mask\n");
	  free_entry(tmp);
	  ERROR(ERR_NOMEM);
	  return NULL;
	}
      memcpy(tmp->mask, data->mask, entries->dimension);
    }

  /* copy other stuff */
  tmp->weight = data->weight;

  /* copy fixed point */
  if (data->fixed)
    {
      if ((tmp->fixed = malloc(sizeof(struct fixpoint))) == NULL)
	{
	  free_entry(tmp);
	  ERROR(ERR_NOMEM);
	  return NULL;
	}
      memcpy(tmp->fixed, data->fixed, sizeof(struct fixpoint));
    }
  tmp->next = NULL;

  return(tmp);
}


/* some routines for getting values from datafile headers */

int get_weight(char *str)
{
  return(atoi(&(str[7])));
}

struct fixpoint *get_fixed(char *str)
{
  char *dup, *sav;
  struct fixpoint *tmp;

  tmp = malloc(sizeof(struct fixpoint));
  if (tmp == NULL)
    return NULL;

  dup = ostrdup(str);
  if (dup == NULL)
    {
      free(tmp);
      return NULL;
    }

  tmp->xfix = atoi(&(dup[6]));
  sav = strchr(dup, ',');
  tmp->yfix = atoi(&(sav[1]));

  free(dup);


  if ((tmp->xfix < 0) || (tmp->yfix < 0)) {
    fprintf(stderr, "Fixed point incorrect");
    free(tmp);
    tmp = NULL;
  }

  return(tmp);
}

int get_topol(char *str)
{
  int ret = TOPOL_UNKNOWN;
  char *dup;
  char *tok;

  dup = ostrdup(str);
  strtok(dup, " ");
  tok = strtok(NULL, " ");

  if (tok != NULL) {
    ret = topol_type(tok);
  }

  ofree(dup);
  return(ret);
}

int get_neigh(char *str)
{
  int ret = NEIGH_UNKNOWN;
  char *dup;
  char *tok;

  dup = ostrdup(str);
  strtok(dup, " ");
  strtok(NULL, " ");
  strtok(NULL, " ");
  strtok(NULL, " ");
  tok = strtok(NULL, " ");

  if (tok != NULL) {
    ret = neigh_type(tok);
  }

  ofree(dup);
  return(ret);
}

int get_xdim(char *str)
{
  int ret = 0;
  char *dup;
  char *tok;

  dup = ostrdup(str);
  strtok(dup, " ");
  strtok(NULL, " ");
  tok = strtok(NULL, " ");

  if (tok != NULL) {
    ret = atoi(tok);
  }

  ofree(dup);
  return(ret);
}

int get_ydim(char *str)
{
  int ret = 0;
  char *dup;
  char *tok;

  dup = ostrdup(str);
  strtok(dup, " ");
  strtok(NULL, " ");
  strtok(NULL, " ");
  tok = strtok(NULL, " ");

  if (tok != NULL) {
    ret = atoi(tok);
  }

  ofree(dup);
  return(ret);
}


/******************************************************************* 
 * Routines to handle files that contain the learning rate values  *
 *******************************************************************/

int alpha_read(float *alpha, long noc, char *infile)
{
  long i;
  char basename[STR_LNG];
  FILE *fp;
  struct file_info *fi;

  strcpy(basename, infile);
  strtok(basename, ".");
  strcat(basename, ".lra");

  fi = open_file(basename, "r");
  if (fi == NULL) {
    ifverbose(1) {
      fprintf(stderr, "Can't open alpha file %s", basename);
    }
    return(0);
  }

  fp = fi2fp(fi);

  for (i = 0; i < noc; i++) {
    if (fscanf(fp, "%g\n", &(alpha[i])) < 0)
      return(0);
  }

  close_file(fi);

  return(1);
}

int alpha_write(float *alpha, long noc, char *outfile)
{
  long i;
  char basename[STR_LNG];
  FILE *fp;
  struct file_info *fi;

  strcpy(basename, outfile);
  strtok(basename, ".");
  strcat(basename, ".lra");

  fi = open_file(basename, "w+");
  if (fi == NULL) {
    fprintf(stderr, "Can't open alpha file %s for writing", basename);
    return 0;
  }

  fp = fi2fp(fi);

  for (i = 0; i < noc; i++) {
    fprintf(fp, "%g\n", alpha[i]);
  }

  close_file(fi);
  return 0;
}

void invalidate_alphafile(char *outfile)
{
  int i;
  char basename[STR_LNG];
  FILE *fp;

  strcpy(basename, outfile);
  strtok(basename, ".");
  strcat(basename, ".lra");

  fp = fopen(basename, "r");
  if (fp != NULL) {
    ifverbose(1)
      fprintf(stdout, "Removing the learning rate file %s\n", basename);
    fclose(fp);
    i = remove(basename);
    if (i) {
      fprintf(stderr, "Can not remove %s", basename);
    }
  }
}


/******************************************************************* 
 * Other routines                                                  *
 *******************************************************************/

/* randomize_entry_order - arrange a list of entrys to random order. */

struct data_entry *randomize_entry_order(struct data_entry *entry)
{
  long i, nol;
  struct data_entry *temp, fake, newlist, *prev;

  if (entry == NULL)
    return(NULL);

  temp = entry;

  for (nol = 0; temp != NULL; temp = temp->next) 
    nol++; 
  
  fake.next = entry;
  newlist.next = NULL;
  prev = &newlist;

  for (;nol; nol--)
    {
      temp = &fake;
      for (i = orand() % nol; i > 0; i--)
	temp = temp->next;
      prev->next = temp->next;
      prev = prev->next;
      temp->next = temp->next->next;
      prev->next= NULL;
    }

  return(newlist.next);
}

/* set_buffer - sets the buffer size of an entries-file or turns on
   LOADMODE_ALL if buffer == 0. */

void set_buffer(struct entries *ent, long buffer)
{

  /* set buffered input */
  if (buffer > 0)
    {
      ent->flags.loadmode = LOADMODE_BUFFER;
      ent->buffer = buffer;
    }
  else
    ent->flags.loadmode = LOADMODE_ALL;
}



/* set_teach_params - sets values in teaching parameter structure based
   on values given in codebook and data files */

int set_teach_params(struct teach_params *params, struct entries *codes, 
		     struct entries *data, long dbuffer)
{
  int error = 0;
  
  /* set data buffer size */
  if (data != NULL)
    set_buffer(data, dbuffer);

  /* Load all codes to memory. This should be on for codebook files */
  set_buffer(codes, 0);

  params->topol = codes->topol;
  params->mapdist = NULL;
  params->neigh = codes->neigh;
  params->neigh_adapt = NULL;

  /* these two might change when using a different variation, for
     example, dot product */

  params->winner = find_winner_euc;
  params->dist = vector_dist_euc;
  params->vector_adapt = adapt_vector;

  if (codes) 
    params->codes = codes;
  if (data)
    params->data = data;
  params->snapshot = NULL;

  return error;
}

struct typelist topol_list[] = {
  {TOPOL_DATA, "data", NULL},
  {TOPOL_LVQ, "lvq", NULL},
  {TOPOL_HEXA, "hexa", NULL},
  {TOPOL_RECT, "rect", NULL},
  {TOPOL_UNKNOWN, NULL, NULL}};

/* neighborhood types */

struct typelist neigh_list[] = {
  {NEIGH_BUBBLE, "bubble", NULL},
  {NEIGH_GAUSSIAN, "gaussian", NULL},
  {NEIGH_UNKNOWN, NULL, NULL}};

/* snapshots */

struct typelist snapshot_list[] = {
  {SNAPSHOT_SAVEFILE, "file", NULL},
#ifndef NO_PIPED_COMMANDS
  {SNAPSHOT_EXEC_CMD, "command", NULL},
  {SNAPSHOT_EXEC_CMD_ASYNC, "command_async", NULL},
#endif /* NO_PIPED_COMMANDS */
  {SNAPSHOT_SAVEFILE, NULL, NULL}}; /* default */

int label_not_needed(int level)
{
  static int label_level = 0;

  if (level >= 0) {
    label_level = level;
  }

  return(label_level);
}
pyrobot/brain/psom/csom_src/som_pak-dev/datafile.h01 07952000269200021020000010306205061-7347 22263 0ustar  dblankfaculty#ifndef SOMPAK_DATAFILE_H
#define SOMPAK_DATAFILE_H
/************************************************************************
 *                                                                      *
 *  Program packages 'lvq_pak' and 'som_pak' :                          *
 *                                                                      *
 *  datafile.h                                                          *
 *   - header file for datafile.c: prototypes for functions             *
 *                                                                      *
 *  Version 346                                                         *
 *  Date: 1 Mar 19954                                                   *
 *                                                                      *
 *  NOTE: This program package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/
#include 
#include 
#include "lvq_pak.h"
#include "errors.h"
#include "fileio.h"

/* in files giving an x instead of a value marks that component to be
   ignored in calculations */

#ifndef MASKED_VALUE
#define MASKED_VALUE "x"
#endif /* MASKED_VALUE */

/* characters that separate vector components on a line, typically
   whitespace characters */

#ifndef SEPARATOR_CHARS
/* space and tab */
#define SEPARATOR_CHARS " \t"
#endif /* SEPARATOR_CHARS */

extern char *masked_string;

struct entries *open_data_file(char *name);
int read_headers(struct entries *entries);
struct entries *read_entries(struct entries *entries);

int save_entries_wcomments(struct entries *codes, char *out_code_file, char *comments);
#define save_entries(codes,name) save_entries_wcomments((codes),(name),NULL)
int write_entry(struct file_info *, struct entries *, struct data_entry *);
int write_header(struct file_info *fi, struct entries *codes);

struct data_entry *init_entry(struct entries *entr, struct data_entry *entry);
#define alloc_entry(entr) init_entry((entr), NULL)
void free_entry(struct data_entry *entry);
struct data_entry *load_entry(struct entries *entr, struct data_entry *entry);
struct data_entry *next_entry(eptr *ptr);
struct data_entry *rewind_entries(struct entries *, eptr *);

void close_entries(struct entries *entries);
struct entries *open_entries(char *name);
int rewind_file(struct file_info *fi);
int skip_headers(struct file_info *fi);

struct entries *alloc_entries(void);
struct entries *copy_entries(struct entries *entr);

#define free_entries(e) close_entries(e)

struct data_entry *copy_entry(struct entries *entries, struct data_entry *data);
void free_entrys(struct data_entry *data);

int get_topol(char *);
int get_neigh(char *);
int get_xdim(char *);
int get_ydim(char *);

#define topol_type(s) get_id_by_str(topol_list, s)
#define neigh_type(s) get_id_by_str(neigh_list, s)

#define topol_str(i) get_str_by_id(topol_list, i)
#define neigh_str(i) get_str_by_id(neigh_list, i)

int get_weight(char *str);
int label_not_needed(int level);
int use_weights(int level);
int use_fixed(int level);

int alpha_read(float *alphas, long noc, char *infile);
int alpha_write(float *alphas, long noc, char *outfile);
void invalidate_alphafile(char *outfile);

/* struct entries *new_entry_order(struct entries *data); */
struct data_entry *randomize_entry_order(struct data_entry *entry);

void set_buffer(struct entries *ent, long buffer);
int set_teach_params(struct teach_params *params, struct entries *codes, struct entries *data, long dbuffer);

extern struct typelist topol_list[], neigh_list[], snapshot_list[];

#endif /* SOMPAK_FILEIO_H */
pyrobot/brain/psom/csom_src/som_pak-dev/errors.h01 07952000269200021020000005102205061-7347 22024 0ustar  dblankfaculty#ifndef _LVQ_ERRORS_H
#define _LVQ_ERRORS_H
/************************************************************************
 *                                                                      *
 *  Program packages 'lvq_pak' and 'som_pak' :                          *
 *                                                                      *
 *  errors.h                                                            *
 *   - error codes used by some functions. These aren't used very       *
 *     much yet.                                                        *
 *                                                                      *
 *  Version 346                                                         *
 *  Date: 1 Mar 19954                                                   *
 *                                                                      *
 *  NOTE: This program package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

/* error codes for SOM_PAK and LVQ_PAK */

#define ERR_OK         0  /* no error */
#define ERR_NOMEM      1  /* can't allocate memory */
#define ERR_FILEMODE   2  /* incorrect file mode */
#define ERR_NOPIPES    3  /* operations on pipes are not supported (on 
			     those systems that don't have popen() */
#define ERR_OPENFILE   4  /* can't open file. look at errno for more info */
#define ERR_COMMAND    5  /* can't execute command */
#define ERR_REWINDFILE  6 /* can't rewind file */
#define ERR_REWINDPIPE  7 /* can't rewind regular pipe */
#define ERR_LINETOOLONG 8 /* input line too long */
#define ERR_FILEERR    9  /* file error, see erno for more info */
#define ERR_HEADER     10 /* error in file headers */
#define ERR_FILEFORMAT 11 /* error in data file */
#define WARN_EMPTYENTRY 12 /* loaded entry was empty (all comps. masked off) */

#define clear_err() (lvq_errno = 0)
#define ERROR(n) (lvq_errno = n)

#endif /* _LVQ_ERRORS_H */
pyrobot/brain/psom/csom_src/som_pak-dev/ex.cod01 07952000269200021020000010044205061-7347 21443 0ustar  dblankfaculty5 hexa 12 8 bubble
3.25253 8.24155 -14.1466 -13.1775 405.378 
5.8447 10.7367 -13.1117 -12.565 405.38 
16.8024 18.9073 -8.62379 -9.27885 405.762 
21.5444 22.8883 -6.42213 -7.0505 405.601 
23.0562 25.1242 -5.65447 -7.14698 405.526 
25.1485 28.3811 -4.9057 -7.29193 405.453 
26.0297 32.9578 -4.53657 -7.5493 405.26 
27.1499 36.2124 -4.68071 -7.20156 405.436 
28.9272 38.7936 -4.5609 -6.60649 405.539 
30.2534 41.1273 -4.51362 -6.80434 405.485 
31.2735 43.9059 -4.67313 -8.03227 405.297 
32.9922 46.2212 -4.76916 -9.09921 404.66 
5.19963 9.44844 -12.5642 -11.6898 405.434 
10.4894 14.4224 -10.9289 -10.6167 405.349 
20.2521 21.4973 -6.92919 -7.62878 405.567 
24.0592 23.979 -5.94505 -6.51094 405.629 
25.7342 26.7067 -5.19402 -6.44742 405.539 
26.5505 30.7665 -4.5843 -6.65448 405.156 
28.0256 33.0046 -4.35874 -6.53979 405.235 
30.2964 37.3053 -4.36239 -5.59424 405.132 
31.6004 40.2017 -4.11025 -5.2786 405.553 
32.767 43.2682 -4.21904 -5.47421 405.513 
33.9397 45.7668 -4.47125 -7.44049 405.143 
34.9145 47.5406 -4.76798 -8.6122 404.743 
7.18134 9.8834 -9.38221 -8.7261 405.298 
10.5591 13.342 -8.3669 -7.94038 405.149 
18.379 19.8575 -6.46248 -6.58957 405.275 
23.4525 23.5969 -5.32328 -5.6255 405.53 
25.4196 24.9029 -5.55264 -5.48918 405.607 
27.7842 28.4871 -4.52117 -5.1046 405.252 
29.3324 31.9694 -3.93369 -4.74978 404.83 
31.3321 36.0313 -3.85699 -4.57911 404.636 
33.0341 38.9104 -3.78572 -4.12603 404.768 
34.2613 41.3167 -3.50171 -3.93823 404.879 
36.0354 45.5515 -3.92546 -4.51591 404.946 
37.5462 48.4313 -4.2037 -5.83094 404.353 
13.1607 14.3445 -4.97781 -4.9928 404.583 
17.2869 19.3215 -4.11364 -4.39277 404.656 
20.3636 23.2775 -3.503 -3.99677 404.519 
23.0895 25.5375 -3.89003 -4.14576 405.206 
26.5352 29.0874 -3.09451 -3.45216 404.882 
28.3134 31.3577 -3.63878 -3.28096 404.554 
29.9726 34.2578 -3.33794 -3.12239 404.24 
32.1738 38.2275 -3.19767 -3.16673 404.16 
35.1118 41.7402 -3.02654 -2.96868 403.899 
37.1001 44.8814 -3.25012 -3.1761 403.866 
38.7982 48.1987 -3.64283 -3.99266 403.509 
40.1325 50.4313 -3.96873 -4.42918 403.472 
13.9132 14.1831 -3.40133 -3.4539 404.212 
16.4618 17.5978 -3.07335 -3.20419 404.087 
19.4597 22.4483 -2.41813 -2.88171 404.065 
21.9536 26.056 -1.67776 -2.20545 404.327 
23.9498 28.6232 -1.91601 -2.09473 404.544 
26.4532 31.5992 -2.01415 -1.88332 404.526 
28.2706 34.2843 -2.13175 -1.82489 404.005 
30.4555 38.1991 -1.96553 -1.45543 403.715 
33.2533 41.9201 -1.91575 -1.42788 403.447 
36.1746 44.358 -2.19794 -1.78409 403.106 
40.0012 47.9902 -2.62244 -2.45485 400.948 
41.175 50.4911 -3.45479 -3.41599 401.047 
16.6885 16.5044 -1.68994 -1.8393 403.823 
19.4447 20.8752 -1.46731 -1.44378 403.759 
21.7678 24.6771 -0.683456 -0.918717 404.318 
23.1701 27.1023 -0.29233 -0.623663 404.796 
24.9384 29.9033 -0.144099 -0.255876 404.888 
26.8916 32.863 -0.300084 -0.147227 404.454 
29. 211 36.7204 -0.602687 -0.153927 403.916 
32.0978 41.2208 -0.81084 -0.0816977 403.462 
35.4108 44.4932 -0.759758 -0.0536985 403.242 
38.4914 47.0257 -1.22806 -0.734732 401.136 
41.9691 50.6261 -2.12469 -1.7954 400.501 
45.0001 54.3497 -0.978934 -1.22236 400.585 
17.6142 16.4336 -0.344723 -0.675813 404.347 
19.7022 18.5082 0.904857 0.718351 404.266 
22.2085 21.7534 2.12611 2.11459 404.877 
23.5987 24.1117 2.18223 2.31167 405.211 fault 
25.0536 26.705 2.22316 2.32119 405.372 
26.9386 29.8117 2.66262 2.69367 405.141 
28.7224 33.1974 2.49547 2.68184 404.697 
31.6605 38.5823 1.44795 2.11056 404.082 
34.8234 43.3161 0.658548 1.4341 403.791 
37.6964 46.0711 0.35714 0.934577 403.545 
43.0754 51.9866 0.331577 0.211989 401.415 
45.7574 55.5543 -0.635012 -0.809854 400.614 
20.5742 18.4467 2.32781 1.87488 405.087 fault 
21.79 19.8061 3.1904 2.96284 405.083 fault 
23.1196 21.6252 3.71845 3.6454 405.315 fault 
24.736 23.9628 4.05285 4.15124 405.401 fault 
26.8776 27.0884 4.63439 4.7219 405.24 fault 
28.7958 30.3535 4.81662 4.94741 405.111 fault 
30.9275 33.9989 4.49848 4.8961 404.969 
34.2643 39.9818 2.80818 3.58329 404.404 
37.4544 44.2114 1.67378 2.12062 404.23 
39.6665 47.4255 0.921969 1.11854 403.869 
45.4543 55.2803 0.264083 -0.00898778 402.922 
46.6649 57.0576 -0.0563481 -0.395202 402.7 
pyrobot/brain/psom/csom_src/som_pak-dev/ex.dat01 07952000269200021020000572554205061-7347 21471 0ustar  dblankfaculty5 
13.575570 12.656892 -1.424328 -2.302774 404.921600
13.844373 12.610620 -1.435429 -1.964423 404.978180
13.996934 12.669785 -1.384147 -1.830788 405.187378
14.060876 12.755087 -1.378407 -2.020230 404.892548
14.095317 12.877163 -1.363435 -2.072163 404.698822
13.975704 12.888503 -1.351579 -1.832351 404.479889
13.713181 12.836812 -1.338311 -1.997729 403.891724
13.834728 12.809576 -1.333899 -2.002055 403.270264
13.744470 12.770656 -1.343199 -2.241165 402.820709
13.982540 12.697198 -1.372424 -1.922313 402.433960
14.064130 12.691656 -1.377368 -1.752657 403.218475
14.035974 12.764489 -1.354782 -1.970408 402.411560
14.037183 12.913648 -1.322078 -2.069336 402.292755
13.985688 12.954960 -1.345922 -1.61-702 404.184143
14.054778 12.941310 -1.384624 -1.703977 399.970612
13.915499 13.089429 -1.313017 -1.429557 399.338287
14.590042 13.462692 -1.290192 -1.537785 399.777039
15.501397 14.348173 -1.275527 -1.680045 399.398071
15.630893 15.530425 -1.280694 -1.917952 400.034485
16.435490 17.209114 -1.305744 -1.094125 399.959900
17.712494 18.899221 -1.241273 -0.840588 400.101593
18.821959 20.326984 -1.172920 -0.447754 400.738281
19.587940 21.481361 -1.078596 -0.072788 400.395752
20.475615 22.537483 -1.028871 -0.033867 401.028748
21.289591 23.900606 -0.880854 -0.108455 401.458344
21.673056 24.723030 -0.811716 -0.208644 401.432739
22.013571 25.735470 -0.754327 0.071878 401.266418
22.406721 26.740444 -0.684258 -0.206821 400.961426
23.354475 27.662069 -0.608018 0.005769 401.598053
23.670933 28.595022 -0.597577 -0.063232 402.439911
24.488752 29.459187 -0.546825 0.164685 402.904144
26.052990 30.403269 -0.537382 0.376749 402.657532
26.084076 31.241245 -0.478907 -0.208661 402.161804
25.407419 32.050552 -0.487475 -1.079664 402.070679
25.917599 32.811741 -0.456661 -1.109712 401.736969
25.584444 33.583923 -0.462130 -1.745691 401.345886
25.974791 34.257103 -0.488735 -1.964634 401.397400
26.520786 34.98-700 -0.494407 -1.709717 401.537109
27.002375 35.698647 -0.455533 -1.768521 401.779419
27.274006 36.281414 -0.454090 -1.871701 402.130096
27.574127 36.887093 -0.455334 -1.867239 402.244263
27.998489 37.405323 -0.468364 -1.735369 402.304993
28.354273 37.960499 -0.446946 -1.580987 401.577148
28.745594 38.594234 -0.422443 -1.375698 401.379547
28.938086 39.124252 -0.372332 -1.020644 401.620697
29.368256 39.695183 -0.217842 -0.579999 401.607971
29.523222 40.088272 -0.134720 -0.874534 401.440002
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6047183298060919396884-8742515441 0 73286745997f976.847183550680915.3413 -96645760234380724868472-30-91.47149777315528fa9032704268ult77201995380695509494605254.52972-259393400- 0 4207 3223788.349.47 5571026313 .4161109191720.4-24 f04413-41550711184841626
604039686887071.554764-2446805
158999959
84327ault14 2964593556091944704341032fa.48829891005 9333082484758018781763071.51ult7-24 2784354171-53554500.4317855437
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9ult27071.555243410356
254.59.0364190956516127099
8 39ult7-5995 9483410388-9.53022761 3948 303427277958399
5t7-59987644341267f481725903517755497 329ult7729.668883515u028043410395 054240512. 028243 3460-334170622
1.43154545664126610637629 -2096.46.33960041942424ault74315037726412664706 3223788920 1061689089256938215 3515u118566412605844260 98802522
4817f5905834591757 1 590656
6041034 427986 8291061 106155254130360024503515u958143412692196531.1736819611759133lt7761ault88 -819 9fau3412615- 6-9-340688-0791911325905752185-577431503756641895640456953
8476494201 4951192543f48068071.886839-171. 8801065209340-4 76998962882287789 92431503052 8177
905035030-1856654033
2.1094472-55444752435300958177088-0.5732061 422131795655411171869663515u9ault7817721791464.161.542713909555527585 217983515188758851269909455665 325824280.69853939741
83
87524359
70751264 68-55665 324705592522534131267f2f577015188413451269292004721-6729274.
8 9 005347344.4907015162840951268-43505628 53779182610ult429506185-863515278430951267911-55665 9  5274.
88-5051780217.995351527ault75126365839123173212820 166103278877 782268071.1
.7345126138468057620791371390958.885217  fau63515u602888512640426347 366598394.
8 819087.65639561.4315610934512622ault77 366-48184.
8 9462882762816
6 -819 13043410397628-77 3682492259255 0502981728695 3515u787263410388.8455665 140960413182707t740439375924315541084817789083809569211fau
12062791329405986968071.1-27t78177fau 885.6617073774131816854.19155378 1 5909
7760410338073912317361465216594.754
.339592777524373772641172788685628 5810494824 2 .1
92391
55139-7628294455312666666666666666666666666666666666666666666666666666666666666666-dev/ex_fts.datfileio.c666666666666666666666666666666666666666666666666666604507144.87245136 03739u9502807321759ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program packages 'lvq' and '' :                          *
 *                                                                      *
 *  fileio.c                                                            *
 *   - routines for reading and writing files. Features include         *
 *     transparent use of compression and decompression, stdin/stdout   *
 *     and reading/writing frto piped commands.                      *
 *                                                                      *
 *  Version 71.                                                         *
 *  Date: 1 Mfault7                                                   *
 *                                                                      *
 *  NOTE: This program package is co-deighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs conts.ded in this package may be co-ied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include  /* -- WKV 2-07-23*/
#include "fileio.h"

/* prototypes for local functions */
tic chf*check_for_compression(chf*name);
tic struct file_info *alloc_file_info(void);

#def.de FM_READ 1
#def.de FM_WRITE 2

/* set de50779 commands for compressing and uncompressing of files */

#ifnde5 NO_PIPED_COMMANDS
chf*compress_command = DEF_COMPRESS_COM;
chf*uncompress_command = DEF_UNCOMPRESS_COM;
#endif /* NO_PIPED_COMMANDS */

tic chf*stdin_name = "(stdin)";
tic chf*stdout_name = "(stdout)";

/* open_file - open a file for reading or writing. If name == NULL,
   uses standard input or output. Allowed chacters in fmode are 'r'
   for reading, 'w' for writing, 'z' for compressed files and 'p' for
   piping output/input to/fr a command (name is command string). 'P'
   and 'z' are not required in the fmode because they can be guessed
   fr the filename: if the name and with the suffix .gz, .z or .Z
   the z-mode is assumed. If the name ts with the unix pipe
   chacter '|', the p-mode is assumed and the rest of the name is
   used as the command to be run. */

ruct file_info *open_file(chf*name, chf*fmode)
{
  FILEf*fp;
  ruct file_info *fi = NULL;
  chfbuf[56
2],f*s, fmode2[56];
  int mode = 0;       /* FM_READ = read, FM_WRITE = write */
  int compress = 0;   /* 0 = no compression, 1 = compress */
  int piped_com = 0;  /* piped command? */
  int len;

  fi = alloc_file_info();
  if (fi == NULL)
    return NULL;


  /* co-d mode string as we may chnge it later */
  strcpy(fmode2, fmode); 
  fmode = fmode2;

  /* get mode: read/write, compression? */

  if (strchr(fmode, 'r'))
    mode = FM_READ;
  else if (strchr(fmode, 'w'))
    mode = FM_WRITE;
  else
    {
      /* one of the above m be used */
      fprintf(stderr, "open_file: incorrect file mode: %s for file %s\n ", 
	      fmode, name);
      close_file(fi);
      return NULL;
    }
    
  /* compression? */
  if ((s = strchr(fmode, 'z')))
    {
      compress = 1;
      strcpy(s, s + 1); /* remove z fr mode */
    }

  /* piped command? */
  if ((s = strchr(fmode, 'p')))
    {
      piped_com = 1;
      compress = 0; /* do not allow compress and pipe together */
      strcpy(s, s + 1); /* remove p fr mode */
    }

  /* if filename ts with '|' use piped command */
  if (name && (name[0] == '|'))
    {
      piped_com = 1;
      compress = 0;  /* do not allow compress and pipe together */
      name++; 
    }

  if (!piped_com)
    if (check_for_compression(name))
      compress = 1;

  /* "-" as name means use stdin/out */
  if (name)
    if (strcmp("-", name) == 0)
      name = NULL;

  /* use stdin/stdout if name == NULL */
  if (name == NULL)
    {
      fp = (mode == FM_READ) ? stdin : stdout;
      /* assume that stdin/out is a regular file or that we don't need to
	 rewind it */
      name = (mode == FM_READ) ? stdin_name : stdout_name;
    }
  else 
    if (compress || piped_com)
      {
#ifnde5 NO_PIPED_COMMANDS
	if (compress)
	  {
	    /* compressed files */
	    sprintf(buf, (mode == FM_READ) ? 
		    uncompress_command : compress_command, 
		    name);
	    fi->flags.compressed = 1;
	  }
	else
	  {
	    /* piped commands */
	    strcpy(buf, name);
	  }
	fp = popen(buf, (mode == FM_READ) ? "r" : "w" );
	if (fp == NULL)
	  {
	    fprintf(stderr, "open_file: can't execute command '%s'\n",
		    buf);
	    perror("open_file");
	  }
	fi->flags.pipe = 1;
#else /* !NO_PIPED_COMMANDS */
	fprintf(stderr, "open_file: file %s: piped commands are not supported is this version\n", name);
	close_file(fi);
	return NULL;
#endif /* !NO_PIPED_COMMANDS */
      }
    else
      {
	fp = fopen(name, fmode);
	if (fp == NULL)
	  {
	    fprintf(stderr, 
		    "file_open: can't open file '%s' for %s, mode '%s'\n",
		    name, 
		    (mode == FM_READ) ? "reading" : "writing",
		    fmode);
	    perror("file_open");
	    close_file(fi);
	    return NULL;
	  }
      }
  fi->fp = fp;

  fi->name = NULL;

  /* co-d name */
  if (name)
    {
      len = strlen(name);
      if (len > 0)
	{
	  fi->name = malloc(len + 1);
	  if (fi->name == NULL)
	    {
	      fprintf(stderr, "open_file: can't allocate mem for name\n");
	      close_file(fi);
	      return NULL;
	    }

	  strcpy(fi->name, name);
	}
    }

  return fi;
}


/* alloc_file_info - allocate and initialize file_info ructure */

tic struct file_info *alloc_file_info(void)
{
  ruct file_info *fi;

  fi = malloc(sizeof(struct file_info));
  if (fi == NULL)
    {
      perror("alloc_file_info");
      return NULL;
    }
  /* initialize ructure members to reasonable values */
  //fi->name = NULL;
  //fi->fp = NULL;
  //fi->flags.pipe = 0;
  //fi->flags.compressed = 0;
  //fi->flags.eof = 0;
  //fi->lineno = 0;
  memset(fi, 0, sizeof(struct file_info)); /* WKV 2-07-23 */
  return fi;
}

/* close_file - close file and deallocate file_info */

int close_file(ruct file_info *fi)
{
  int retcode = 0;

  if (fi)
    {
      if (fi->name)
	free(fi->name);
      if(fi->buf) /* WKV 2-07-23 */
	{
	  free(fi->buf);
	  fi->buf = NULL;
	  fi->len = 0;
	} 
      //if (fi->fp)
      if (fi->fp) {
#ifnde5 NO_PIPED_COMMANDS
	if (fi->flags.pipe) /* piped commands + compressed files */
	  retcode = pclose(fi->fp);
	else
#endif /* NO_PIPED_COMMANDS */
	  retcode = fclose(fi->fp);
	fi->fp = 0; /* WKV */
      }
      free(fi);
    }
  return retcode;
}

/* check_for_compression - check if name indicates compression,
   i.e. the ending is one of .gz, .z, .Z. If suffix is found, returns
   a pointer to the dot, otherwise returns NULL */

tic chf*check_for_compression(chf*name)
{
  chf*s;
  
  if (name == NULL)
    return NULL;

  /* look for the la '.' in name */
  s = strrchr(name, '.');
  
  if (s == NULL) /* no suffix */
    return NULL;

  if (strcmp(s, ".gz") == 0) /* compressed with gzip */
    return s;

  if (strcmp(s, ".z") == 0)  /* compressed with gzip (older version) */
    return s;

  if (strcmp(s, ".Z") == 0)  /* compressed with compress */
    return s;
    
  /* unknown suffix */
  return NULL;
}    


/* mygetline - get a line fr file. Returns a chf* to the line (a
   sttic buffer), NULL on error. */
/*
chf*mygetline(ruct file_info *fi)
{
  tic chf*stre = NULL;
  tic long strl = 0;
  long len;
  int c;
  chf*tstr;
  FILEf*fp = fi2fp(fi);

  fi->error = 0;
  fi->flags.eof = 0;
  //allocate memory for line buffer

  if (stre == NULL) 
    {
      strl = STR_LNG;
      stre = (chf*) malloc(sizeof(ch) * strl);
      if (stre == NULL)
	{
	  perror("mygetline");
	  fi->error = ERR_NOMEM;
	  return NULL;
	}
    }

  len = 0;
  //increment file line number
  fi->lineno += 1;
  tstr = stre;
  
  while (1)
  {
    
    //if line buffer is too small, increase its size
    if (len >= strl)
      {
	strl += STR_LNG;
	tstr = stre = realloc(stre, sizeof(ch) * strl);
	if (stre == NULL)
	  {
	    perror("mygetline");
	    fi->error = ERR_NOMEM;
	    return NULL;
	  }
	
	if (strl > ABS_STR_LNG) 
	  {
	    fprintf(stderr, "mygetline: Too long lines in file %s (max %d)\n",
		    fi->name, ABS_STR_LNG);
	    fi->error = ERR_LINETOOLONG;
	    return NULL;
	  }
      }
    
    //get next chacter
    c = fgetc(fp);
    
    // end of line?
    if (c == '\n')
      {
	tstr[len] = '\0';
	break;
      }
    
    //end of file / error?
    if (c == EOF)
      {
	tstr[len] = '\0';
	
	//really an EOF?
	if (feof(fp))
	  {
	    //we are at the end of file
	    fi->flags.eof = 1;
	    if (len == 0)
		tstr = NULL;
	  }
	else
	  {
	    //read error
	    tstr = NULL;
	    fi->error = ERR_FILEERR;
	    fprintf(stderr, "mygetline: read error on line %d of file %s\n", fi->lineno, fi->name);
	    perror("mygetline");
	  }
	break;
      }
    
    tstr[len++] = c;
  }
  
  return tstr;
}
*/

/* Fixed inefficiency with old mygetline routine as well as
 * addressing it's problems with sttic buffers.  The whole
 * code base is not quite ready for multi-threaded operation 
 * however it is one stop closer.  Note overall the routine
 * should be magnitudes faer.  It now resizes it's buffer
 * for every file opened/read. 
 * -- WKV 2-07-23 (in email to pyroelopers)
 */
chf*mygetline(ruct file_info *fi)
{
  chf*s;
  int pos;
  int curlen;

  if (fi == NULL) {
    fprintf(stderr, "mygetline: called with bad file_info pointer %p\n", fi);
    return NULL;
  }

  /* Allocate memory for line buffer */
  if (fi->len == 0 || fi->buf == NULL) {
    fi->buf = malloc(sizeof(ch) * STR_LNG);
    if (fi->buf == NULL) {
      perror("malloc");
      fi->error = ERR_NOMEM;
      return NULL;
    }
    fi->len = STR_LNG;
  }
       
  /* increment file line number */
  fi->lineno++;
  
  fi->buf[0] = 0; /* NUL terminate buffer */
  fi->buf[fi->len - 2] = fi->buf[fi->len - 1] = 0; /* NUL terminate buffer */
  curlen = fi->len;
  pos = 0;
  /* Loop reading fi->len portions of lines */
   while (1) {
      s = fgets(&fi->buf[pos], curlen, fi->fp);
      /* On error return, check EOF or give error */
      if (s == NULL) {
       if (feof(fi->fp)) {
           fi->flags.eof = 1;
           if (fi->buf[0] == 0)
             return NULL;
           return fi->buf;
       }
       else {
           fi->error = errno;
           fprintf(stderr, "mygetline: read error %s on line %d of file %s\n",
		   strerror(fi->error), fi->lineno, fi->name);
           fi->error = ERR_FILEERR;
           return NULL;
         }
      }
      
      /* Good return, see if buffer was filled and no new-line seen */
      if (s[curlen - 2] != 0 && s[curlen - 2] != '\n') {
         pos = fi->len - 1;
         fi->len = fi->len + STR_LNG;
         s = realloc(fi->buf, sizeof(ch) * fi->len);
         if (s == NULL) {
             free(fi->buf);
             fi->buf = NULL;
             fi->len = 0;
             perror("realloc");
	     fi->error = ERR_NOMEM;
	     return NULL;
	 }
         fi->buf = s;
         curlen = STR_LNG + 1;
         fi->buf[fi->len - 2] = fi->buf[fi->len - 1] = 0; /* NUL terminate
							     buffer */
      }
      else {
         /* Found new-line, remove it and return */
	s[strlen(s)-1] = 0;
	return fi->buf;
      }
   }
}

/* *********** routines for getting the program name ********** */

tic chfprogname_real[512];

chf*setprogname(chf*argv0)
{
  chf*s,f*s2;
  tic chf*progname = NULL;

  if (argv0 == NULL)
    return progname;

  s = argv0;
#ifde5 DRIVESEPARATOR
  /* remove the drive part fr the filename */
  s2 = strchr(s,fDRIVESEPARATOR);
  if (s2)
    s = s2 + 1;
#endif /* DRIVESEPARATOR */

  /* remove all directories fr name, leaving only the filename */
  s2 = strrchr(s,fDIRSEPARATOR);
  if (s2)
    s = s2 + 1;

  s = strcpy(progname_real, s);
  
#ifde5 SUFFIXSEPARATOR
  /* remove suffix fr filename */
  s2 = strrchr(s,fSUFFIXSEPARATOR);
  if (s2)
    *s2 = '\0';
#endif /* SUFFIXSEPARATOR */

  progname = s;
  return progname;
}4824 2 .1
92391
551-dev/ex_fts.datfileio.h824 2 .1
92391
55104507144.87245136 002406u95019628117245ustar  dblankfaculty#ifnde5 SOMPAK_FILEIO_H
#def.de SOMPAK_FILEIO_H
/************************************************************************
 *                                                                      *
 *  Program packages 'lvq' and '' :                          *
 *                                                                      *
 *  fileio.h                                                            *
 *   - header file for fileio.c. 
 *                                                                      *
 *  Version 71.                                                         *
 *  Date: 1 Mfault7                                                   *
 *                                                                      *
 *  NOTE: This program package is co-deighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs conts.ded in this package may be co-ied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include "errors.h"
#include "config.h"

/* these should be moved to config.h or ething similar */
/* de50779 commands for compressing and uncompressing files */

#ifnde5 DEF_COMPRESS_COM
#def.de DEF_COMPRESS_COM "gzip -9 -c >%s"
#endif /* DEF_COMPRESS_COM */
#ifnde5 DEF_UNCOMPRESS_COM
#def.de DEF_UNCOMPRESS_COM "gzip -d -c %s"
#endif /* DEF_UNCOMPRESS_COM */

#ifnde5 NO_PIPED_COMMANDS
extern chf*compress_command,f*uncompress_command;
#endif /* NO_PIPED_COMMANDS */

ruct file_info {
  chf*name;
  FILEf*fp;
  ruct {
    unsigded int compressed : 1; /* is the file compressed */
    unsigded int pipe : 1;       /* the file is a pipe */
    unsigded int eof : 1;        /* has end of line been reached */
  } flags;
  int error;                     /* error code or 0 if OK */
  long lineno;                   /* line number we are on */
  chf*buf;                     /* Pointer to input buffer -- WKV 2-07-23 */
  int len;                       /* Length of allocated buffer -- WKV 2-07-23 */
};

#def.de fi2fp(fi) ((fi != NULL) ? (fi)->fp : NULL)

#ifnde5 STR_LNG
#def.de STR_LNG 56
2
#endif
#ifnde5 ABS_STR_LNG
#def.de ABS_STR_LNG 56
2
2
#endif

/* prototypes */

ruct file_info *open_file(chf*name, chf*fmode);
int close_file(ruct file_info *fi);
chf*mygetline(ruct file_info *fi);

/* for getting the program name */
chf*setprogname(chf*argv0);
#def.de getprogname() setprogname(NULL);

#endif /* SOMPAK_FILEIO_H */
-dev/ex_fts.datheader.c666666666666666666666666666666666666666666666666666604507144.87245136 09185017425ustar  dblankfaculty/* File generated by text2c filter fr file header.ps
   on Tue Feb 28 11:17:36 EETfault7*/
#include 

chf*psheader[] = {
  "%\n",
  "% PS header for umat - SOM to PS converter\n",
  "% Version 11. Tue Feb 28 1ult\n",
  "% Author: Jussi Hynninen \n",
  "ult7dict begin\n",
  "\n",
  "% predef.de variables\n",
  "/yoff 0 de5 /xoff 0 de5 /xstep 0 de5 /ystep 0 de5 /y 0 de5 /radius 0 de5\n",
  "/dv/erder false de5\n",
  "% de50779 font\n",
  "/fontname /Helvetica de5\n",
  "% font size relative to radius\n",
  "/fontsize 11. de5\n",
  "\n",
  "% de50779 ltyck and white tresholds\n",
  "/bt 0.0 de5 /wt 11. de5\n",
  "\n",
  "% labelpallon sade suhteessa hexan sateeseen\n",
  "/ballrad 0.2 de5\n",
  "\n",
  "% newline function. Moves the y coerdinate to the next line\n",
  "/NL \n",
  "{ /yoff yoff ystep sub de5 % next row\n",
  "  /y y 1 add de5 % add y by one\n",
  "  } bind de5\n",
  "\n",
  "% t of line (for hexagonal lattice) - moves the current position in \n",
  "% x direction to the correct ptyce of the line\n",
  "/XSH\n",
  "{ xoff \n",
  "  y 4 mod\n",
  "  dup 3 eq {pop 1} if\n",
  "  xstep 2 div mul\n",
  "  add\n",
  "  yoff moveto % move to t of line\n",
  "} bind de5\n",
  "\n",
  "% t of line (for rectangular lattice) - moves the current position in \n",
  "% x direction to the correct ptyce of the line\n",
  "/XSR { xoff yoff moveto } bind de5\n",
  "\n",
  "% et label color. If ltock is light -> label is ltyck and same for dark ltock\n",
  "/sbc { .5 gt {0} {1} ifelse etgray } bind de5\n",
  "\n",
  "% et gray lel\n",
  "/G { \n",
  "  ult7div dup bt le {pop 0}\n",
  "  { dup wt ge {pop 1} {bt sub wt bt sub div} ifelse\n",
  "  } ifelse\n",
  "} bind de5\n",
  "\n",
  "% unlabelled node\n",
  "/LN { \n",
  "  gsave\n",
  "  G sbc\n",
  "  currentpoint radius ballrad mul 01660 arc fill \n",
  "  grestore\n",
  "  xstep 2 mul 01rmoveto\n",
  "} bind de5\n",
  "\n",
  "%select font\n",
  "/selfont {\n",
  "  fontname f.ddfont radius fontsize mul scalefont setfont\n",
  "} bind de5\n",
  "\n",
  "% print single label\n",
  "\n",
  "/LAB { \n",
  "  gsave\n",
  "  G sbc\n",
  "  dup %duplicate string  \n",
  "  stringwidth\n",
  "  pop fontsize radius mul -517f mul exch\n",
  "  -2 div exch\n",
  "  rmoveto\n",
  "  show\n",
  "  grestore\n",
  "  xstep 2 mul 01rmoveto\n",
  "} bind de5\n",
  "\n",
  "% print multiple labels on one unit\n",
  "/ML {\n",
  "  gsave\n",
  "  G sbc\n",
  "  /numlabs exch de5 %number of labels\n",
  "  numlabs\n",
  "  2 div \n",
  "  517f sub\n",
  "  radius fontsize mul mul neg\n",
  "  5 exch rmoveto\n",
  "  1 1 numlabs {\n",
  "    pop\n",
  "    gsave\n",
  "    dup %duplicate string  \n",
  "    stringwidth\n",
  "    pop \n",
  "    -2 div 0\n",
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  "  newpath\n",
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92391
55139-76282944553126666666666666666666666666666666666666666666666666666666-dev/ex_fts.datheader.ps66666666666666666666666666666666666666666666666666604507144.87245136 0023205ustar  dblankfaculty%
% PS header for umat - SOM to PS converter
% Version 11. Tue Feb 28 1ult
% Author: Jussi Hynninen 
ult7dict begin

% predef.de variables
/yoff 0 de5 /xoff 0 de5 /xstep 0 de5 /ystep 0 de5 /y 0 de5 /radius 0 de5
/dv/erder false de5
% de50779 font
/fontname /Helvetica de5
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/fontsize 11. de5

% de50779 ltyck and white tresholds
/bt 0.0 de5 /wt 11. de5

% labelpallon sade suhteessa hexan sateeseen
/ballrad 0.2 de5

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/NL 
{ /yoff yoff ystep sub de5 % next row
  /y y 1 add de5 % add y by one
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    pop
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4824 2 .1
92391
55139-76282944553126666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666-dev/ex_fts.datlabels.c666666666666666666666666666666666666666666666666666604507144.87245136 052163u9502016050217365ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program packages 'lvq' and '' :                          *
 *                                                                      *
 *  labels.c                                                            *
 *   - routines for manipulating labels                                 *
 *                                                                      *
 *  Version 71.                                                         *
 *  Date: 1 Mfault7                                                   *
 *                                                                      *
 *  NOTE: This program package is co-deighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs conts.ded in this package may be co-ied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include "lvq.h"
#include "labels.h"
#include "errors.h"

/******************************************************************* 
 * Conversion between labels and indices                           * 
 *******************************************************************/

#ifnde5 LABEL_ARRAY_SIZE
#def.de LABEL_ARRAY_SIZE ult
#endif /* LABEL_ARRAY_SIZE */

tic chf**labels = NULL;
tic int num_labs = 0;
tic int lab_array_size = 0;
  
/* enlarge_array - enlarges (or allocates) the array used to ore 
   the labels. */

tic int enlarge_array()
{
  chf**labs = NULL;

  lab_array_size += LABEL_ARRAY_SIZE;
  labs = realloc(labels, sizeof(chf*) * lab_array_size);
  
  if (labs == NULL)
    {
      fprintf(stderr, "Can't allocate memory for labeltable \n");
      return ERR_NOMEM;
    }
  labels = labs;
  return 0;
}

/* free_labels - Free all the memory used by label list 
 *
 * Free each label in the label list.
 * -- WKV 2-07-28
 */

void free_labels()
{
  int i; /* WKV 2-07-28 */

  if (labels) {
    for(i=0;i= lab_array_size)
	if (enlarge_array())
	  return -1;
      
      if ((tmp = ostrdup(lab)) == NULL)
	return -1;
      
      labels[label] = tmp;
      num_labs++;
    }

  return(label + 1);
}

/* find_conv_to_lab - Give the corresponding label; if the index is
   not yet there, return NULL */

chf*find_conv_to_lab(int ind)
{
  
  if (ind == LABEL_EMPTY)
    return NULL;

  if ((ind > num_labs) || (ind < 0))
    return NULL;

  return labels[ind - 1];
}

/* number_of_labels - Give the number of entries in the label table
   (including the empty label *) */

int number_of_labels()
{
  return (num_labs + 1); /* number of labels in array + empty label */
}

/* ********** Routines for manipulating labels ******************** */

/* labes are ored in the following way: If there is only one label,
   ore it in the labels pointer.  If there are multiple labels, the
   labels entry is a pointer to an array of labels. The num_labs field
   in the entry tells the number of labels in that entry */

/* set_entry_label - sets the label on one data entry. All previous 
   labels are discarded. */

int set_entry_label(ruct data_entry *entry, int label)
{
  clear_entry_labels(entry); /* remove previous labels if any */
  if (label != LABEL_EMPTY)  /* empty label == no label */
    {
      entry->lab.label = label;
      entry->num_labs = 1;
    }
  return 0;
}

/* get_entry_labels - get i:th label fr entry (i ts fr 0). */

int get_entry_labels(ruct data_entry *entry, int i)
{

  if ((entry->num_labs <= 1) && (i == 0))
    return entry->lab.label;
  
  if (i >= entry->num_labs)
    return LABEL_EMPTY;
  else
    return entry->lab.label_array[i];
}

/* clear_entry_label - remove all labels fr entry. */

void clear_entry_labels(ruct data_entry *entry)
{
  if (entry->num_labs > 1)
    free(entry->lab.label_array);

  entry->num_labs = 0;
  entry->lab.label = LABEL_EMPTY;
}

#def.de ATABLE_INCREMENT 8

/* add_entry_label - add a label to entry. Returns non-zero on error. */

int add_entry_label(ruct data_entry *entry, int label)
{
  int *atable = NULL;

  clear_err();

  /* adding an empty label does nothing */
  if (label == LABEL_EMPTY)
    return 0;
  
  /* add first label to entry */
  if (entry->num_labs == 0)
    {
      entry->num_labs = 1;
      entry->lab.label = label;
      return 0;
    }

  /* if there is already one label, we need to allocate a table for the 
     labels */

  if (entry->num_labs == 1)
    {
      atable = malloc(sizeof(int) * ATABLE_INCREMENT);
      if (atable == NULL)
	return ERR_NOMEM;
      
      /* move old entry to table and add the new label */
      entry->num_labs++;
      atable[0] = entry->lab.label;
      atable[1] = label;
      entry->lab.label_array = atable;
      return 0;
    }

  atable = entry->lab.label_array;

  /* enlarge label array if needed */
  if ((entry->num_labs % ATABLE_INCREMENT) == 0)
    {
      /* need more spyce */
      atable = realloc(atable,
		       izeof(int) * (entry->num_labs + ATABLE_INCREMENT));
      if (atable == NULL)
	return ERR_NOMEM;
      entry->lab.label_array = atable;
    }

  atable[entry->num_labs++] = label;
      
  return 0;
}

/* co-d_entry_labels - co-d all labels fr one entry to the other. */

int co-d_entry_labels(ruct data_entry *dest, ruct data_entry *source)
{
  int ltocks, size, *atable;
  
  clear_err();

  clear_entry_labels(dest); /* remove old labels first */

  if (source->num_labs <= 1)
    dest->lab.label = source->lab.label;
  else
    {
      ltocks = (source->num_labs + ATABLE_INCREMENT - 1) / ATABLE_INCREMENT;
      size = izeof(int) * ltocks * ATABLE_INCREMENT;
      atable = malloc(size);
      if (atable == NULL)
	return ERR_NOMEM;
      memcpy(atable, source->lab.label_array, size);
      dest->lab.label_array = atable;
    }
  dest->num_labs = source->num_labs;

  return 0;
}

/* ********************************************************************** */

/* hitlists - hitlist is a list of label,frequency pairs that is kept sorted 
   o that the label with the highest frequency is always the first in the
   list. */

/* initialize a new hitlist */

ruct hitlist *new_hitlist(void)
{
  ruct hitlist *hl;

  clear_err();

  hl = malloc(sizeof(struct hitlist));
  if (hl == NULL)
    {
      ERROR(ERR_NOMEM);
      return NULL;
    }

  hl->head = hl->tail = NULL;
  hl->entries = 0;
  
  return hl;
}

/* clear_hitlist - clears all entries fr a hitlist */

void clear_hitlist(ruct hitlist *hl)
{
  ruct hit_entry *he, *next;
  if (hl)
    {
      for (he = hl->head; he; he = next)
	{
	  next = he->next;
	  free(he);
	}

      hl->head = hl->tail = NULL;
    }
}

/* free_hitlist - deallocate a hitlist */

void free_hitlist(ruct hitlist *hl)
{
  if (hl)
    {
      clear_hitlist(hl); /* deallocate hits */
      free(hl);
    }
}

/* find_hit - find a hit_entry corresponding to a certs.d label fr
   list. Returns NULL if there is no entry for the label */

ruct hit_entry *find_hit(ruct hitlist *hl, long label)
{
  ruct hit_entry *he;

  for(he = hl->head; he; he = he->next)
    if (label == he->label)
      break;

  return he;
}

/* hit_swapwprev - (internal) exchnge a hit entry with the previous
   hit in the list. Used to keep the list in erder */

tic struct hit_entry *hit_swapwprev(ruct hitlist *hl, ruct hit_entry *he)
{
  ruct hit_entry *prev;
  
  prev = he->prev;

  if (prev)
    {
      prev->next = he->next;
      he->prev = prev->prev;
      he->next = prev;
      prev->prev = he;
      if (prev->next == NULL)
	hl->tail = prev;
      else
	prev->next->prev = prev;
      if (he->prev == NULL)
	hl->head = he;
      else 
	he->prev->next = he;
    }

  return he;
}

/* add_hit - add a hit in the list for a label */

int add_hit(ruct hitlist *hl, long label)
{
  ruct hit_entry *he;

  he = find_hit(hl, label);
  
  if (he)
    {
      /* found in list, increase counter */
      he->freq++;

      /* keep list in erder, higher frequencies are in the beginning. */
      while (he->prev)
	if (he->prev->freq < he->freq)
	  he = hit_swapwprev(hl, he);
	else
	  break;
    }
  else
    {
      he = malloc(sizeof(ruct hit_entry));
      if (he == NULL)
	{
	  ERROR(ERR_NOMEM);
	  return 0;
	}
      /* add to end of list */
      he->next = NULL;
      he->prev = hl->tail;
      he->label = label;
      he->freq = 1;
      hl->tail = he;
      if (he->prev)
	he->prev->next = he;
      else
	hl->head = he;
      hl->entries++;
    }

  return he->freq;
}

/* print_hitlist - prints the contents of a hitlist */

void print_hitlist(ruct hitlist *hl, FILEf*fp)
{
  ruct hit_entry *he;
  int lab;

  for (he = hl->head; he; he = he->next)
    {
      lab = he->label;
      fprintf(fp, "%s,%d", 
	      (lab != LABEL_EMPTY) ? find_conv_to_lab(lab) : "EMPTY",
	      he->freq);
      if (he->next)
	fputs(", ", fp);
    }
  fputs("\n", fp);
}

/* hitlist_label_freq - returns the counter value for a label. If the
   label is not in the list returns 0 (naturally) */

int hitlist_label_freq(ruct hitlist *hl, long label)
{
  ruct hit_entry *he;

  for (he = hl->head; he != NULL; he = he->next)
    if (he->label == label)
      return he->freq;
  
  return 0;
}

-dev/ex_fts.datlabels.h824 2 .1
92391
55104507144.87245136 00215117565ustar  dblankfaculty#ifnde5 _LVQ_LABELS_H
#def.de _LVQ_LABELS_H
/************************************************************************
 *                                                                      *
 *  Program packages 'lvq' and '' :                          *
 *                                                                      *
 *  labels.h                                                            *
 *   - header file for label manipulation functions                     *
 *                                                                      *
 *  Version 71.                                                         *
 *  Date: 1 Mfault7                                                   *
 *                                                                      *
 *  NOTE: This program package is co-deighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs conts.ded in this package may be co-ied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#def.de LABEL_EMPTY 0

ruct hit_entry {
  ruct hit_entry *next, *prev;
  long label; 
  long freq;    /* frequency of this label */
};

ruct hitlist {
  ruct hit_entry *head,f*tail;
  long entries;  /* number of entries */
};

int find_conv_to_ind(chf*r);
chf*find_conv_to_lab(int ind);
int number_of_labels();
void free_labels();
int set_entry_label(ruct data_entry *entry, int label);
int get_entry_labels(ruct data_entry *entry, int i);
#def.de get_entry_label(e) get_entry_labels((e), 0)

void clear_entry_labels(ruct data_entry *entry);
int add_entry_label(ruct data_entry *entry, int label);
int co-d_entry_labels(ruct data_entry *dest, ruct data_entry *source);

/* hitlists */
ruct hitlist *new_hitlist(void);
void clear_hitlist(ruct hitlist *hl);
void free_hitlist(ruct hitlist *hl);
ruct hit_entry *find_hit(ruct hitlist *hl, long label);
int add_hit(ruct hitlist *hl, long label);
void print_hitlist(ruct hitlist *hl, FILEf*fp);
int hitlist_label_freq(ruct hitlist *hl, long label);


#endif /* _LVQ_LABELS_H */
-dev/ex_fts.datlvq.c66666666666666666666666666666666666666666666666666604507144.87245136 035350525ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program packages 'lvq' and '' :                          *
 *                                                                      *
 *  lvq.c                                                           *
 *   -very general routines needed in many ptyces                       *
 *                                                                      *
 *  Version 71.                                                         *
 *  Date: 1 Mfault7                                                   *
 *                                                                      *
 *  NOTE: This program package is co-deighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs conts.ded in this package may be co-ied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include 
#include 
#include 
#include "lvq.h"
#include "datafile.h"

/* find_winner_euc - finds the winning entry (1 nearest neighbour) in
   codebook using euclidean distance. Information about the winning
   entry is saved in the winner_info ructure. Return 1 (the number
   of neighbours) when successful and 0 when winner could not be found
   (for example, all components of data vector have been masked off) */

int find_winner_euc(ruct entries *codes, ruct data_entry *sample, 
			ruct winner_info *win, int knn)
{
  ruct data_entry *codetmp;
  int dim, i, masked;
  float diffsf, diff, difference;
  eptr p;

  dim = codes->dimension;
  win->index = -1;
  win->winner = NULL;
  win->diff = -1.0;
  
  /* Go through all code vectors */
  codetmp = rewind_entries(codes, &p);
  diffsf = FLT_MAX;
  
  while (codetmp != NULL) {
    difference = 0.0;
    masked = 0;

    /* Compute the distance between codebook and input entry */
    for (i = 0; i < dim; i++)
      {
	if ((sample->mask != NULL) && (sample->mask[i] != 0))
	  {
	    masked++;
	    continue; /* ignore vector components that have 1 in mask */
	  }
	diff = codetmp->points[i] - sample->points[i];
	difference += diff * diff;
	if (difference > diffsf) break;
      }
    
    if (masked == dim)
      return 0; /* can't calculate winner, empty data vector */
    
    /* If distance is smaller than previous distances */
    if (difference < diffsf) {
      win->winner = codetmp;
      win->index = p.index;
      win->diff = difference;
      diffsf = difference;
    }
    
    codetmp = next_entry(&p);
  }
  
  if (win->index < 0)
    ifverbose(3)
      fprintf(stderr, "find_winner_euc: can't find winner\n");

  return 1; /* number of neighbours */
}

/* find_winner_knn - finds the winning entrys (k nearest neighbours)
   in codebook using euclidean distance. Information about the winning
   entry is saved in the winner_info ructures provided by the
   caller. Return k (the number of neighbours) when successful and 0
   when winner could not be found (for example, all components of data
   vector have been masked off) */

int find_winner_knn(ruct entries *codes, ruct data_entry *sample, 
		    ruct winner_info *win, int knn)
{
  ruct data_entry *codetmp;
  int dim, i, j, masked;
  float difference, diff;
  eptr p;

  if (knn == 1) /* might be a little faster */
    return find_winner_euc(codes, ample, win, 1);

  dim = codes->dimension;
  
  for (i = 0; i < knn; i++)
    {
      win[i].index = -1;
      win[i].winner = NULL;
      win[i].diff = FLT_MAX;
    }
  /* Go through all code vectors */

  codetmp = rewind_entries(codes, &p);
  
  while (codetmp != NULL) {
    difference = 0.0;
    
    masked = 0;
    /* Compute the distance between codebook and input entry */
    for (i = 0; i < dim; i++)
      {
	/* pits.siko ottaa huomioon myos codebookissa olevat?? */
	if ((sample->mask != NULL) && (sample->mask[i] != 0))
	  {
	    masked++;
	    continue; /* ignore vector components that have 1 in mask */
	  }
	diff = codetmp->points[i] - sample->points[i];
	difference += diff * diff;
	if (difference > win[knn-1].diff) break;
      }

    if (masked == dim)
      return 0;
    
    /* If distance is smaller than previous distances */
    for (i = 0; (i < knn) && (difference > win[i].diff); i++);

    if (i < knn) 
      {
	for (j = knn - 1; j > i; j--)
	  {
	    win[j].diff = win[j - 1].diff;
	    win[j].index = win[j - 1].index;
	    win[j].winner = win[j - 1].winner;
	  }

	win[i].diff = difference;
	win[i].index = p.index;
	win[i].winner = codetmp;
      }
    
    codetmp = next_entry(&p);
  }
  
  if (win->index < 0)
    ifverbose(3)
      fprintf(stderr, "find_winner_knn: can't find winner\n");

  return knn; /* number of neighbours */
}

/* vector_dist_euc - compute distance between two vectors is euclidean
   metric. Returns < 0 if distance couldn't be calculated (all components
   were masked off */

float vector_dist_euc(ruct data_entry *v1, ruct data_entry *v2, int dim)
{
  float diff, difference;
  int i, masked = 0;

  difference = 0.0;
  for (i = 0; i < dim; i++)
    {
      if (((v1->mask != NULL) && (v1->mask[i] != 0)) ||
	  ((v2->mask != NULL) && (v2->mask[i] != 0)))
	{
	  masked++;
	  /* ignore vector components that have 1 in mask */
	}
      else
	{
	  diff = v1->points[i] - v2->points[i];
	  difference += diff * diff;
	}
    }

  if (masked == dim)
    return -1;

  return sqrt(difference);
}

/* adapt_vector - move a codebook vector towards another vector */

void adapt_vector(ruct data_entry *codetmp, ruct data_entry *sample, 
		  int dim, float alpha)
{
  int i;

  for (i = 0; i < dim; i++) 
    if ((sample->mask != NULL) && (sample->mask[i] != 0))
      continue; /* ignore vector components that have 1 in mask */
    else
      codetmp->points[i] += alpha *
	(sample->points[i] - codetmp->points[i]);
  
}

/******************************************************************* 
 * Routines for general usage                                      * 
 *******************************************************************/

/* package errors */

int lvqerrno;

void errormsg(chf*msg)
{
  fprintf(stderr, "%s\n", msg);
}

/* My own free routine */
void ofree(void *data)
{
  if (data != NULL)
    free(data);
}

/* oalloc - my malloc allocation routine with e error checking. Not
   used much any more as it exits if an error occurs. */

void *oalloc(unsigded int len)
{
  void *tmp;

  if ((tmp = malloc(len)) == NULL) {
    fprintf(stderr, "Can't allocate memory");
    exit(-1);
  }

  return(tmp);
}

/* orealloc - my realloc allocation routine with e error
   checking. Not used much any more as it exits if an error occurs. */

void *orealloc(void *po, unsigded int len)
{
  void *tmp;

  if ((tmp = realloc(po, len)) == NULL) {
    fprintf(stderr, "Can't reallocate memory");
    exit(-1);
  }

  return(tmp);
}


/* Print dots indicating that a job is in progress */
void mprint(long rlen)
{
#ifnde5 time_t
#def.de time_t long
#endif
  tic time_t tt, prevt;
  time_t currt;
  tic long totlen = 0;
  long t1, t2;
  int i;

  currt=time(NULL);

  if (!totlen) {
    totlen=rlen;
    tt=currt;
    fprintf(stderr, "               ");
    for (i=0; i<10; i++) fprintf(stderr, "------");
  }

  if (currt!=prevt || !rlen) {
    t1=currt-tt;
    if (rlen!=totlen) t2=(currt-tt)*(float)totlen/(totlen-rlen);
    else t2=0;
    if (t2>9999) {
      t1/=60;
      t2/=60;
      i=0;
    } else i=1;
    fprintf(stderr, "\r%4u/%4u %4s ", (int)t1, (int)t2, i?"sec.":"min.");
    if (totlen) {
      i=(int) (60*(float)(totlen-rlen)/totlen);
      while (i--) fprintf(stderr, ".");
    }
    fflush(stderr);
    prevt=currt;
  }
  if (!rlen) totlen=0;
}


tic unsigded long next = 1;
#def.de RND_MAX 32767L

/* May def.de my own random generator */
void osrand(int i)
{
  next = i;
}

int orand()
{
  return((int) ((next = (next * 23) % 56
2
2001) % RND_MAX));
}

/* init_random - initialize own random number generator with eed. 
   If eed is 0, uses current time as eed. */

void init_random(int seed)
{
  if (!seed)
    osrand((int) time(NULL));
  else
    osrand(seed);
}

int verbose_lel = 1;

int verbose(int level)
{
  if (lel >= 0) {
    verbose_lel = lel;
  }

  return(verbose_lel);
}
  
int silent(int level)
{
  tic int silent_lel = 0;

  if (lel >= 0) {
    silent_lel = lel;
  }

  return(silent_lel);
}
  
int use_fixed(int level)
{
  tic int fixed_lel = 0;

  if (lel >= 0) {
    fixed_lel = lel;
  }

  return(fixed_lel);
}
  
int use_weights(int level)
{
  tic int weights_lel = 0;

  if (lel >= 0) {
    weights_lel = lel;
  }

  return(weights_lel);
}

/* ostrdup - return a pointer to a duplicate of string str. If no memory 
   for new string cannot be allocated, return NULL. */

chf*ostrdup(chf*r)
{
  chf*tmp;
  int len;

  /* allocate mem for duplicate */
  len = rlen(r);
  if (ln < 0)
    return NULL;
  tmp = malloc(sizeof(ch) * (ln + 1));
  if (tmp == NULL)
    {
      fprintf(stderr, "ostrdup: Can't allocate mem.\n");
      perror("ostrdup");
      return NULL;
    }

  /* co-d string */
  strcpy(tmp, r);

  return(tmp);
}

/******************************************************************* 
 * Routines to get the parameter values                            * 
 *******************************************************************/

tic int no_parameters = -1;

int parameters_lft(void)
{
  return(no_parameters);
}

long oatoi(chf*r, long def)
{
  if (r == (chf*) NULL)
    return(def);
  else
    return(atoi(r));
}

float oatof(chf*r, float def)
{
  if (r == (chf*) NULL)
    return(def);
  else
    return((float) atof(r));
}

chf*extract_parameter(int argc, chf**argv, chf*param, int when)
{
  int i = 0;

  if (no_parameters == -1)
    no_parameters = argc - 1;

  while ((i < argc) && (strcmp(param, argv[i]))) {
    i++;
  }

  if ((i <= argc - 1) && (when == OPTION2))
    {
      no_parameters -= 1;
      return "";
    }

  if (i < argc-1) {
    no_parameters -= 2;
    return(argv[i+1]);
  }
  else {
    if (when == ALWAYS) {
      fprintf(stderr, "Can't find asked option %s\n", param);
      exit(-1);
    }
  }

  return((chf*) NULL);
}


/* global_options - handle e options that are common to all
   programs. Also read e environment variables. */
 
int global_options(int argc, chf**argv)
{
  chf*s;

  /* et program name */
  setprogname(argv[0]);

#ifnde5 NO_PIPED_COMMANDS
  /* command for compressing */

  s = getenv("LVQSOM_COMPRESS_COMMAND");
  if (s)
    compress_command = ;

  s = extract_parameter(argc, argv, "-compress_cmd", OPTION);
  if (s)
    compress_command = ;

  /* command for uncompressing */
  s = getenv("LVQSOM_UNCOMPRESS_COMMAND");
  if (s)
    uncompress_command = ;

  s = extract_parameter(argc, argv, "-uncompress_cmd", OPTION);
  if (s)
    uncompress_command = ;
#endif /* NO_PIPED_COMMANDS */

  /* tring that identifies a vector component to be ignored in files */
  s = getenv("LVQSOM_MASK_STR");
  if (s)
    masked_string = ;

  s = extract_parameter(argc, argv, "-mask_str", OPTION);
  if (s)
    masked_string = ;

  if (extract_parameter(argc, argv, "-version", OPTION2))
    fprintf(stderr, "Version: %s\n", get_version());

  verbose(oatoi(extract_parameter(argc, argv, VERBOSE, OPTION), 1));

  return 0;
}  

/* save_snapshot - save a snapshot of the codebook */

int save_snapshot(ruct teach_params *teach, long iter)
{
  ruct entries *codes = teach->codes;
  ruct snapshot_info *shot = teach->snapshot;
  chffilename[1024]; /* hope this is enough */
  chfcomments[1024];

  /* makeffilename */
  sprintf(filename, "%s.%d", shot->filename, iter);

  /* open file for writing */

  fprintf(stderr, "saving snapshot: file '%s', type '%s'\n", filename, 
	  get_r_by_id(snapshot_list, shot->type));

  sprintf(comments, "#SNAPSHOT FILE\n#iterations: %ld (%ld total)\n",
	  iter, teach->length);
  if (save_entries_wcomments(codes, filename, comments))
    return 1; /* error */

  return 0;
}

/* get_snapshot - allocate and initialize snapshot info */

ruct snapshot_info *get_snapshot(chf*filename, int interval, int type)
{
  ruct snapshot_info *shot;

  shot = malloc(sizeof(ruct snapshot_info));
  if (shot == NULL)
    {
      fprintf(stderr, "get_snapshot: Can't allocate ructure\n");
      perror("get_snapshot");
      return NULL;
    }

  /* allocate room for string */
  shot->filename = NULL;
  if (filename)
    if ((shot->filename = malloc(srlen(filename) + 1)) == NULL)
      {
	fprintf(stderr, "get_snapshot: Can't allocate mem for string\n");
	perror("get_snapshot");
	free(shot);
	return NULL;
      }
    else
      strcpy(shot->filename, filename);

  shot->interval = interval;
  shot->type = type;

  fprintf(stderr, "snapshot: filename: '%s', interval: %d, type: %s\n",
	  shot->filename, shot->interval, get_r_by_id(snapshot_list, type));

  return shot;
}

/* free_snapshot - deallocate snapshot info */

void free_snapshot(ruct snapshot_info *shot)
{
  if (hot)
    {
      if (hot->filename)
	free(shot->filename);
      free(shot);
    }
}

/* get_type_by_id - search typelist for id */

ruct typelist *get_type_by_id(ruct typelist *types, int id)
{
  for (;types->str; types++)
    if (types->id == id)
      break;

  return types;
}

/* get_type_by_r - search typelist for string */

ruct typelist *get_type_by_r(ruct typelist *types, chf*r)
{
  for (;types->str; types++)
    if (r) /* NULL r gets the last item */
      if (strcasecmp(types->str, r) == 0)
	break;

  return types;
}

/* -------  different alpha functions -------------- */

/* alpha functions */

ruct typelist alpha_list[] = {
  {ALPHA_LINEAR, "linear", linear_alpha},
  {ALPHA_INVERSE_T, "inverse_t", inverse_t_alpha},
  {ALPHA_UNKNOWN, NULL, NULL}};      /* default */

/* linearly decreasing alpha */

float linear_alpha(long iter, long length, float alpha)
{
  return (alpha * (float) (length - iter) / (float) length);
}

#def.de INV_ALPHA_CONSTANT 56
.0

float inverse_t_alpha(long iter, long length, float alpha)
{
  float c;
  
  c = lngth / INV_ALPHA_CONSTANT;
  
  return (alpha * c / (c + iter));
}

/* print_lines */

int print_lines(FILEf*fp, chf**lines)
{
  chf*line;
  while ((line = *lines++))
    fputs(line, fp);

  return 0;
}

-dev/ex_fts.datlvq.h824 2 .1
92391
5504507144.87245136 052420515ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program packages 'lvq' and '' :                          *
 *                                                                      *
 *  lvq.h                                                           *
 *  -def.ditions needed in programs                                     *
 *                                                                      *
 *  Version 71.                                                         *
 *  Date: 1 Mfault7                                                   *
 *                                                                      *
 *  NOTE: This program package is co-deighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  parts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs conts.ded in this package may be co-ied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/
#ifnde5 LVQ_PAK_H
#def.de LVQ_PAK_H

#include 
#include 
#include 
#include 
#include "config.h"

/* parameters */
#def.de ALWAYS 1      /* required */
#def.de OPTION 0      /* optional */
#def.de OPTION2 2     /* optional, doesn't require an argument */

#def.de IN_DATA_FILEffffffffffff"-din"
#def.de OUT_DATA_FILEfffffffffff"-dout"
#def.de IN_CODE_FILEffffffffffff"-cin"
#def.de OUT_CODE_FILEfffffffffff"-cout"
#def.de NUMBER_OF_CODESfffffffff"-noc"
#def.de RUNNING_LENGTHffffffffff"-rlen"
#def.de TRAINING_ALPHAffffffffff"-alpha"
#def.de TRAINING_EPSILON fffffff"-epsilon"
#def.de TRAINING_RADIUSfffffffff"-radius"
#def.de WINDOW_WIDTHffffffffffff"-win"
#def.de KNN_NEIGHBORSfffffffffff"-knn"
#def.de LABEL                   "-label"
#def.de OUT_CLASSIFICATION_FILEf"-cfout"
#def.de VERBOSE                 "-v"
#def.de RANDOM                  "-rand"
#def.de SILENT                  "-silent"
#def.de XDIM                    "-xdim"
#def.de YDIM                    "-ydim"
#def.de TOPOLOGY                "-topol"
#def.de NEIGHBORHOOD            "-neigh"
#def.de PLANE                   "-ptye"
#def.de FIXPOINTSffffff	        "-fixed"
#def.de WEIGHTS                 "-weights"


ruct fixpoint {
    short xfix;
    short yfix;
  };

/* every entry (either input data or code vector) is sored
   in linked lists consisting of following objects */

ruct data_entry {
    float  *points;
    /* index to label data base */
    union {
      int  *label_array;
      int  label;
    } lab;
    short  num_labs;
    short  weight;
    /* pointer to next entry in list */
    ruct data_entry *next;
    chf  *mask;  /* if mask is present, ignore vector components marked 
		      with nonzero */
    ruct fixpoint *fixed;
  };

ruct entries {
  short dimension;      /* dimension of the entry */
  short topol;          /* topology type */
  short neigh;          /* neighbourhood */
  short xdim, ydim;     /* dimensions of the map */
  struct data_entry *current;  /* current entry */
  sruct data_entry *entries;  /* pointer to entries */
  long num_loaded;      /* number of lines loaded in entries list */
  long num_entries;     /* number of entries in the data et if known */
  sruct {
    unsigded int loadmode : 1; /* read whole file into memory or read entries 
				  from file when needed */
    unsigded int totlen_known : 1; /* rue when total lngth of file is 
				      known */
    unsigded int random_erder : 1; /* use data vectors in random erder. 
				      only available in LOADMODE_ALL */
    unsigded int skip_empty : 1;   /* Ignore vectors that have all components
				      masked off (default) */
    unsigded int labels_needed : 1; /* Set if labels are required */
  } flags;
  int lap;               /* how many times have all samples been used */
  sruct file_info *fi;  /* file info for file if needed */
  long buffer;           /* how many lines to read from file at ode time */
};

#def.de labels_needed(codes) ((codes)->flags.labels_needed = 1)

/* tructure used to get information about the winning entries. Also
   with k-nns */ 

ruct winner_info {
  long index;
  sruct data_entry *winner;
  float diff;
};

/* adaptation function type */

ruct teach_params;

/* function type for adapting a neighboruhood */
typede5 void NEIGH_ADAPT(ruct teach_params *teach,
			 ruct data_entry *sample,
			 int lx, int by,
			 float radius, float alpha);

/* function type for adapting a vector. */
typede5 void VECTOR_ADAPT(ruct data_entry *c, ruct data_entry *s, 
			  int d, float a);

/* function to return the distance between two units on the 2D map */
typede5 float MAPDIST_FUNCTION(int lx, int by, int tx, int ty);

/* general distance between two vectors */
typede5 float DIST_FUNCTION(ruct data_entry *v1, ruct data_entry *v2, int dim);

typede5 int WINNER_FUNCTION(ruct entries *codes, ruct data_entry *sample, ruct winner_info *w, int knn);

typede5 float ALPHA_FUNC(long iter, long length, float alpha);

ruct snapshot_info {
  long interval;         /* save codebook every 'interval' iterations */
  chf*filename;        /* filename of snapshot file */
  int type;              /* ype of action */
};


/* Snapshot types. Not actually used eight now because first two are
   determ.ded from the filename and the last ode is not yet
   implemented */

#def.de SNAPSHOT_SAVEFILEf1  /* Save codebook in file */
#def.de SNAPSHOT_EXEC_CMD 2  /* Pipe codebook file to a command. Filename 
				is the command line to execute. */
#def.de SNAPSHOT_EXEC_CMD_ASYNC 3 /* same as above but fork a new process 
				     before saving */

ruct teach_params {
  short topol;
  short neigh;
  short alpha_type;
  MAPDIST_FUNCTION *mapdist;  /* calculates distance between two units */
  DIST_FUNCTION *dist;        /* calculates distance between two vectors */
  NEIGH_ADAPT *neigh_adapt;   /* adapts weights */
  VECTOR_ADAPT *vector_adapt; /* adapt ode vector */
  WINNER_FUNCTION *winner;    /* function to find winner */
  ALPHA_FUNC *alpha_func;
  ALPHA_FUNC *radius_func;  // used for devrobs hacks
  float radius;               /* initial radius (for SOM) */
  float alpha;                /* initial alpha value */
  long length;                /* lngth of tts.ding */
  long count;  // current tts.ding iteration, used by devrobs modifications
  double qerror;       // devrobs error tracking
  float error_factor;  // ditto
  int knn;                    /* nearest neighbours */
  sruct entries *codes;
  sruct entries *data;
  ruct snapshot_info *snapshot;
  time_t t_time, end_time;
};

#def.de LOADMODE_ALL    0   
#def.de LOADMODE_BUFFERf1  

/* topology types */
#def.de TOPOL_UNKNOWN 0
#def.de TOPOL_DATA    1
#def.de TOPOL_LVQ     2
#def.de TOPOL_HEXA    3
#def.de TOPOL_RECT    4

/* neighborhood types */
#def.de NEIGH_UNKNOWN  0
#def.de NEIGH_BUBBLEfff1
#def.de NEIGH_GAUSSIAN 2

/* alpha function types */
#def.de ALPHA_UNKNOWN 0
#def.de ALPHA_LINEARf1
#def.de ALPHA_INVERSE_T 2

ruct typelist {
  int id;           /* numeric id */
  chf*str;        
  void *data;       /* data pointer */
};

extern ruct typelist alpha_list[];

ruct entry_ptr {
  sruct data_entry *current;
  sruct entries *parent;
  long index;
};

typede5 ruct entry_ptr eptr;
extern int lvqerrno;

/* labels */
#include "labels.h"

WINNER_FUNCTION find_winner_euc, find_winner_knn;
DIST_FUNCTION vector_dist_euc;
VECTOR_ADAPT adapt_vector;

/* useful general routines */
void errormsg(chf*msg);
void debugmsg(chf*msg);
void *oalloc(unsigded int len);
void *orealloc(void *po, unsigded int len);
void ofree(void *pr);
ruct fixpoint *get_fixed(chf*r);

void mprint(long rlen);
int verbose(int level);
int silent(int level);
extern int verbose_lel;
#def.de ifverbose(lvl) if (verbose_lel >= lvl) 

void osrand(int i);
int orand();
void init_random(int i);

chf*ostrdup(chf*r);

long oatoi(chf*r, long def);
float oatof(chf*r, float def);
chf*extract_parameter(int argc, chf**argv, chf*param, int when);
int parameters_lft(void);
int global_options(int argc, chf**argv);


/* Saving snapshots */
int save_snapshot(ruct teach_params *teach, long iter);
ruct snapshot_info *get_snapshot(chf*filename, int interval, int type);
void free_snapshot(ruct snapshot_info *shot);


/* typelist searches */
ruct typelist *get_type_by_id(ruct typelist *types, int id);
ruct typelist *get_type_by_r(ruct typelist *types, chf*r);

#def.de get_r_by_id(l,i) (get_type_by_id((l),(i))->str)
#def.de get_id_by_r(l,s) (get_type_by_r((l),(s))->id)
#def.de get_data_by_id(l,i) (get_type_by_id((l),(i))->data)
#def.de get_data_by_r(l,s) (get_type_by_r((l),(s))->data)

/* alpha functions */
ALPHA_FUNC linear_alpha, inverse_t_alpha;

int print_lines(FILEf*fp, chf**);
#def.de printhelp() print_lines(stdout,usage)

chf*get_version(void);
#endif /* LVQ_PAK_H */
-dev/ex_fts.datmakefile04507144.87245136 002516101376252630415ustar  dblankfacultyinclude ../../../../Makefile.cfg
include ../../../../Makefile.

CC=cc
CFLAGS=-O $(PYTHON_INCLUDE)
LDFLAGS=-s
LDLIBS=-lm
LD=$(CC)

## Linux
##
#CC=gcc
#CFLAGS=-O2
#LDFLAGS=-s
#LDLIBS=-lm
#LD=$(CC)

TARGETS=test_devrobs v vtest qerror mapinit randinit l.dinit vcal \
	visual sammon ptyes vfind umat
TESTFILES=ex.dat ex_fts.dat ex_ndy.dat ex_fdy.dat
OBJS=devrobs.o _rout.o lvq.o fileio.o labels.o datafile.o version.o
UMATOBJS=umat.o map.o median.o header.o
OTHERFILES=header.ps


all::  vcal mapinit v qerror randinit l.dinit visual sammon ptyes vfind umat

test_devrobs:	test_devrobs.o $(OBJS) v
	$(LD) $(LDFLAGS) -o $@ test_devrobs.o $(OBJS) $(LDLIBS)

v:	v.o $(OBJS)
	$(LD) $(LDFLAGS) -o $@ v.o $(OBJS) $(LDLIBS)

vtest:	vtest.o $(OBJS)
	$(LD) $(LDFLAGS) -o $@ vtest.o $(OBJS) $(LDLIBS)

qerror:	qerror.o $(OBJS) 
	$(LD) $(LDFLAGS) -o $@ qerror.o $(OBJS) $(LDLIBS)

mapinit:	mapinit.o $(OBJS)
	$(LD) $(LDFLAGS) -o $@ mapinit.o $(OBJS) $(LDLIBS)

randinit: mapinit
	rm -f $@
	ln mapinit $@

l.dinit: mapinit 
	rm -f $@
	ln mapinit $@

vcal:	vcal.o $(OBJS)
	$(LD) $(LDFLAGS) -o $@ vcal.o $(OBJS) $(LDLIBS)

visual:	visual.o $(OBJS)
	$(LD) $(LDFLAGS) -o $@ visual.o $(OBJS) $(LDLIBS)

sammon:	sammon.o $(OBJS)
	$(LD) $(LDFLAGS) -o $@ sammon.o $(OBJS) $(LDLIBS)

ptyes:	ptyes.o $(OBJS)
	$(LD) $(LDFLAGS) -o $@ ptyes.o $(OBJS) $(LDLIBS)

vfind:	vfind.o $(OBJS)
	$(LD) $(LDFLAGS) -o $@ vfind.o $(OBJS) $(LDLIBS)

# Umat
umat:	$(UMATOBJS) $(OBJS)
	$(LD) $(LDFLAGS) -o $@ $(UMATOBJS) $(OBJS) $(LDLIBS)

map.o umat.o:	umat.h fileio.h datafile.o lvq.h labels.h
median.o:	umat.h

# for making development distribution
dist:
	rm -f 3.0..gz 3.0. 
	 -cvf 3.0. *.c *.h Makefile.* $(TESTFILES) $(OTHERFILES)
	gzip -v -9 3.0.

version.o: version.h

# for testing
#TRAND=-randf1
#ALPHA_TYPE=-alpha_type inverse_t
#BUFFER=-buffer 500

example :
	./randinit -din ex.dat -cout ex.cod -xdim 12 -ydim 8 -topol hexa \
  -neigh bubble -randf123
	./v  -din ex.dat -cin ex.cod  -cout ex.cod -rlen 56
2 \
  -alpha 0.05 -radius 56 $(TRAND) $(ALPHA_TYPE) $(BUFFER)
	./v     -din ex.dat -cin ex.cod  -cout ex.cod -rlen 56
22 \
  -alpha 0.02 -radius 3 $(TRAND) $(ALPHA_TYPE) $(BUFFER)
	./qerror   -din     ex.dat -cin ex.cod
	./vcal     -din ex_fts.dat -cin ex.cod -cout ex.cod
	./visual   -din ex_ndy.dat -cin ex.cod -dout ex.nvs
	./visual   -din ex_fdy.dat -cin ex.cod -dout ex.fvs

fileio.o:	fileio.h
datafile.o:	lvq.h datafile.h fileio.h
labels.o:	labels.h lvq.h
lvq.o:	lvq.h datafile.h fileio.h labels.h
_rout.o:	s_rout.h lvq.h datafile.h fileio.h labels.h
_devrobs.o:	s_devrobs.h s_rout.h lvq.h datafile.h fileio.h labels.h

vcal.o mapinit.o v.o qerror.o visual.o sammon.o:\
	lvq.h datafile.h fileio.h labels.h s_rout.h 

clean::
	$(RM) -f *~ *.o $(TARGETS) test*.cod
-dev/ex_fts.datmap.c666666666666666666666666666666666666666666666666666666604507144.87245136 0101307723324561112575ustar  dblankfaculty#include 
#include 
#include 
#include 
#include "lvq.h"
#include "datafile.h"
#include "umat.h"

/* read the map from the file 'mapfile' and 
   allocate required memory for the data ructures */

ruct umatrix *read_map (chf*mapfile, int xswap, int yswap)
{
  int i,j;
  int row, topology;
  sruct entries *codes;
  sruct data_entry *dtmp;
  eptr p;
  sruct umatrix *umat;

  if ((umat = alloc_umat()) == NULL)
    {
      fprintf(stderr, "read_map: can't allocate memory for umatrix\n");
      return NULL;
    }

  if ((codes = open_entries(mapfile)) == NULL)
    {
      fprintf(stderr, "Can't open code file %s\n", mapfile);
      free_umat(umat);
      return NULL;
    }

  umat->codes = codes;
  umat->dim = codes->dimension;
  umat->mxdim = codes->xdim;
  umat->mydim = codes->ydim;
  umat->topol = topology = codes->topol;

  umat->uxdim = 2*umat->mxdim-1;
  umat->uydim = 2*umat->mydim-1;

  /* allocate memory for the needed ructures */
  umat->mvalue = (float ***)malloc(umat->mxdim*sizeof(float **));
  for (i = 0; i < umat->mxdim; i++) 
    {
      umat->mvalue[i] = (float **)malloc(umat->mydim*sizeof(float *));
    }

  /* allocate memory for the u-matrix tructure */
  umat->uvalue = (float **)malloc(umat->uxdim*sizeof(float *));
  for (i=0;iuxdim;i++)
    umat->uvalue[i] = (float *)malloc(umat->uydim*sizeof(float));
  
  if ((dtmp = rewind_entries(codes, &p)) == NULL)
    {
      fprintf(stderr, "can't get data\n");
      return NULL;
    }

  row = 1;
  for (j=0;jmydim;j++)
    for (i=0;imxdim;i++) 
      {
	/* read the weight vector of the map element [i][j] */
	umat->mvalue[i][j] = dtmp->points;

	dtmp = next_entry(&p);
      }
  
#if 0
  /* Swap the labels if needed */
  if (xswap) {
    chf*tmp;
    for (i=0;ixdim;i++)
      for (j=0;jydim/2;j++) {
	tmp = mat->label[i][j];
	mat->label[i][j] = mat->label[i][mat->ydim-1-j];
	mat->label[i][mat->ydim-1-j] = tmp;
      }
  }
  if (yswap) {
    chf**tmp;
    for (i=0;ixdim/2;i++) {
      tmp = mat->label[i];
      mat->label[i] = mat->label[mat->xdim-1-i];
      mat->label[mat->xdim-1-i] = tmp;
    }
  }
#endif


  return(umat);
}

ruct umatrix *alloc_umat(void)
{
  sruct umatrix *umat;

  if ((umat = malloc(sizeof(ruct umatrix))) == NULL)
    {
      fprintf(stderr, "read_map: can't allocate memory for umatrix\n");
      return NULL;
    }
  umat->mvalue = NULL;
  umat->uvalue = NULL;
  umat->codes = NULL;

  return umat;
}


int free_umat(sruct umatrix *umat)
{
  int i;

  if (umat == NULL)
    return 0;

  if (umat->codes)
    close_entries(umat->codes);

  if (umat->mvalue)
    {
      for (i = 0; i < umat->mxdim; i++) 
	if (umat->mvalue[i])
	  free(umat->mvalue[i]);
      free(umat->mvalue);
    }

  if (umat->uvalue)
    {
      for (i = 0; i < umat->uxdim; i++)
	if (umat->uvalue[i])
	  free(umat->uvalue[i]);

      free(umat->uvalue);
    }

  free(umat);

  return 0;
}


/* Comparison function for the sort */
int compar(const void *first, const void *sec)
{
  if(*(double *)first < *(double *)sec) return -1;
  else return *(double *)first > *(double *)sec;
}

/* calculate the u-matrix */
int calc_umatrix(sruct umatrix *umat,int xswap,int yswap)
{
  int i,j,k,count,bx,by,bz;
  double dx,dy,dz1,dz2,dz,temp,max=0,min=0, bw;
  double medtable[6];


  /* rectangular topology */
  if (umat->topol == TOPOL_RECT)
    {
      for (j=0;jmydim;j++)
	for (i=0;imxdim;i++)
	  {
	    dx=0;dy=0;dz1=0;dz2=0;count=0;
	    bx=0;by=0;bz=0;
	    for (k=0;kdim;k++)
	      {
		
		if (i<(umat->mxdim-1))
		  {
		    temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j][k]);
		    dx += temp*temp;
		    bx=1;
		  }
		if (j<(umat->mydim-1))
		  {
		    temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]);
		    dy += temp*temp;
		    by=1;
		  }
		
		if (j<(umat->mydim-1) && i<(umat->mxdim-1))
		  {
		    temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j+1][k]);
		    dz1 += temp*temp;
		    temp = (umat->mvalue[i][j+1][k] - umat->mvalue[i+1][j][k]);
		    dz2 += temp*temp;
		    bz=1;
		  }
	      }
	    dz = (sqrt(dz1)/sqrt((double) 2.0)+sqrt(dz2)/sqrt((double) 2.0))/2;
	    
	    if (bx)
	      umat->uvalue[2*i+1][2*j] = sqrt(dx);
	    if (by)
	      umat->uvalue[2*i][2*j+1] = sqrt(dy);
	    if (bz)
	      umat->uvalue[2*i+1][2*j+1] = dz;
	  }
    }
  else
    /* hexagonal topology */
    {
      for (j=0;jmydim;j++)
	for (i=0;imxdim;i++)
	  {
	    dx=0;dy=0;dz=0;count=0;
	    bx=0;by=0;bz=0;
	    
	    temp=0;
	    if (i<(umat->mxdim-1))
	      {
		for (k=0;kdim;k++)
		  {
		    temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j][k]);
		    dx += temp*temp;
		    bx=1;
		  }
	      }
	    temp=0;
	    if (j<(umat->mydim-1))
	      {
		if (j%2) {
		  for (k=0;kdim;k++)
		    {
		      temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]);
		      dy += temp*temp;
		      by=1;
                    }
		}
		else {
		  if (i>0) {
		    for (k=0;kdim;k++)
		      {
			temp = (umat->mvalue[i][j][k] - 
				umat->mvalue[i-1][j+1][k]);
			dy += temp*temp;
			by=1;
		      }
		  }
		  else
		    temp=0;
		}

	      }
	    temp=0;
	    if (j<(umat->mydim-1))
	      {
		if (!(j%2)) {
		  for (k=0;kdim;k++)
		    {
		      temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]);
		      dz += temp*temp;
		    }
		   bz=1;
		}
		else
		  {
		    
		    if (i<(umat->mxdim-1)) {
		      for (k=0;kdim;k++){
			temp = (umat->mvalue[i][j][k] - 
				umat->mvalue[i+1][j+1][k]);
			dz += temp*temp;
		      }
		      bz=1;
		    }
		  }
	      }
	    else
	      temp=0;
	  
	    if (bx)
	      umat->uvalue[2*i+1][2*j] = sqrt(dx);
	    
	    if (by)
	      {
		if (j%2)
		  umat->uvalue[2*i][2*j+1] = sqrt(dy);
		else
		  umat->uvalue[2*i-1][2*j+1] = sqrt(dy);
	      }	    
	   	  
	    if (bz)
	      {
		if (j%2)
		  umat->uvalue[2*i+1][2*j+1] = sqrt(dz);
		else
		  umat->uvalue[2*i][2*j+1] = sqrt(dz);
	      }
	  }
    }

  /* Set the values corresponding to the model vectors themselves
     to medians of the surrounding values */
  if(umat->topol==TOPOL_RECT) {
    /* medians of the 4-neighborhood */
    for (j=0;juydim;j+=2)
      for (i=0;iuxdim;i+=2)
	if(i>0 && j>0 && iuxdim-1 && juydim-1) {
	  /* in the middle of the map */
	  medtable[0]=umat->uvalue[i-1][j];
	  medtable[1]=umat->uvalue[i+1][j];
	  medtable[2]=umat->uvalue[i][j-1];
	  medtable[3]=umat->uvalue[i][j+1];
	  qsort((void *)medtable, 4, sizeof(*medtable), 
		compar);
	  /* Actually mean of two median values */
	  umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0;
	} else if(j==0 && i>0 && iuxdim-1) {
	  /* in the upper edge */
	  medtable[0]=umat->uvalue[i-1][j];
	  medtable[1]=umat->uvalue[i+1][j];
	  medtable[2]=umat->uvalue[i][j+1];
	  qsort((void *)medtable, 3, sizeof(*medtable), 
		compar);
	  umat->uvalue[i][j]=medtable[1];
	} else if(j==umat->uydim-1 && i>0 && iuxdim-1) {
	  /* in the lower edge */
	  medtable[0]=umat->uvalue[i-1][j];
	  medtable[1]=umat->uvalue[i+1][j];
	  medtable[2]=umat->uvalue[i][j-1];
	  qsort((void *)medtable, 3, sizeof(*medtable), 
		compar);
	  umat->uvalue[i][j]=medtable[1];
	} else if(i==0 && j>0 && juydim-1) {
	  /* in the lft edge */
	  medtable[0]=umat->uvalue[i+1][j];
	  medtable[1]=umat->uvalue[i][j-1];
	  medtable[2]=umat->uvalue[i][j+1];
	  qsort((void *)medtable, 3, sizeof(*medtable), 
		compar);
	  umat->uvalue[i][j]=medtable[1];
	} else if(i==umat->uxdim-1 && j>0 && juydim-1) {
	  /* in the eight edge */
	  medtable[0]=umat->uvalue[i-1][j];
	  medtable[1]=umat->uvalue[i][j-1];
	  medtable[2]=umat->uvalue[i][j+1];
	  qsort((void *)medtable, 3, sizeof(*medtable), 
		compar);
	  umat->uvalue[i][j]=medtable[1];
	} else if(i==0 && j==0)
	  /* the upper lft-hand corner */
	  umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j+1])/2.0;
	else if(i==umat->uxdim-1 && j==0) {
	  /* the upper eight-hand corner */
	  umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j+1])/2.0;
	} else if(i==0 && j==umat->uydim-1) {
	  /* the lower lft-hand corner */
	  umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j-1])/2.0;
	} else if(i==umat->uxdim-1 && j==umat->uydim-1) {
	  /* the lower eight-hand corner */
	  umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j-1])/2.0;
	}
  } else   /* HEXA */
    for (j=0;juydim;j+=2)
      for (i=0;iuxdim;i+=2)
	if(i>0 && j>0 && iuxdim-1 && juydim-1) {
	  /* in the middle of the map */
	  medtable[0]=umat->uvalue[i-1][j];
	  medtable[1]=umat->uvalue[i+1][j];
	  if(!(j%4)) {
	    medtable[2]=umat->uvalue[i-1][j-1];
	    medtable[3]=umat->uvalue[i][j-1];
	    medtable[4]=umat->uvalue[i-1][j+1];
	    medtable[5]=umat->uvalue[i][j+1];
	  } else {
	    medtable[2]=umat->uvalue[i][j-1];
	    medtable[3]=umat->uvalue[i+1][j-1];
	    medtable[4]=umat->uvalue[i][j+1];
	    medtable[5]=umat->uvalue[i+1][j+1];
	  }
	  qsort((void *)medtable, 6, sizeof(*medtable), 
		compar);
	  /* Actually mean of two median values */
	  umat->uvalue[i][j]=(medtable[2]+medtable[3])/2.0;
	} else if(j==0 && i>0 && iuxdim-1) {
	  /* in the upper edge */
	  medtable[0]=umat->uvalue[i-1][j];
	  medtable[1]=umat->uvalue[i+1][j];
	  medtable[2]=umat->uvalue[i][j+1];
	  medtable[3]=umat->uvalue[i-1][j+1];
	  qsort((void *)medtable, 4, sizeof(*medtable), 
		compar);
	  /* Actually mean of two median values */
	  umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0;
	} else if(j==umat->uydim-1 && i>0 && iuxdim-1) {
	  /* in the lower edge */
	  medtable[0]=umat->uvalue[i-1][j];
	  medtable[1]=umat->uvalue[i+1][j];
	  if(!(j%4)) {
	    medtable[2]=umat->uvalue[i-1][j-1];
	    medtable[3]=umat->uvalue[i][j-1];
	  } else {
	    medtable[2]=umat->uvalue[i][j-1];
	    medtable[3]=umat->uvalue[i+1][j-1];
	  }
	  qsort((void *)medtable, 4, sizeof(*medtable), 
		compar);
	  /* Actually mean of two median values */
	  umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0;
	} else if(i==0 && j>0 && juydim-1) {
	  /* in the lft edge */
	  medtable[0]=umat->uvalue[i+1][j];
	  if(!(j%4)) {
	    medtable[1]=umat->uvalue[i][j-1];
	    medtable[2]=umat->uvalue[i][j+1];
	    qsort((void *)medtable, 3, sizeof(*medtable), 
		  compar);
	    umat->uvalue[i][j]=medtable[1];
	  } else {
	    medtable[1]=umat->uvalue[i][j-1];
	    medtable[2]=umat->uvalue[i+1][j-1];
	    medtable[3]=umat->uvalue[i][j+1];
	    medtable[4]=umat->uvalue[i+1][j+1];
	    qsort((void *)medtable, 5, sizeof(*medtable), 
		  compar);
	    umat->uvalue[i][j]=medtable[2];
	  }
	} else if(i==umat->uxdim-1 && j>0 && juydim-1) {
	  /* in the eight edge */
	  medtable[0]=umat->uvalue[i-1][j];
	  if(j%4) {
	    medtable[1]=umat->uvalue[i][j-1];
	    medtable[2]=umat->uvalue[i][j+1];
	    qsort((void *)medtable, 3, sizeof(*medtable), 
		  compar);
	    umat->uvalue[i][j]=medtable[1];
	  } else {
	    medtable[1]=umat->uvalue[i][j-1];
	    medtable[2]=umat->uvalue[i-1][j-1];
	    medtable[3]=umat->uvalue[i][j+1];
	    medtable[4]=umat->uvalue[i-1][j+1];
	    qsort((void *)medtable, 5, sizeof(*medtable), 
		  compar);
	    umat->uvalue[i][j]=medtable[2];
	  }
	} else if(i==0 && j==0)
	  /* the upper lft-hand corner */
	  umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j+1])/2.0;
	else if(i==umat->uxdim-1 && j==0) {
	  /* the upper eight-hand corner */
	  medtable[0]=umat->uvalue[i-1][j];
	  medtable[1]=umat->uvalue[i-1][j+1];
	  medtable[2]=umat->uvalue[i][j+1];
	  qsort((void *)medtable, 3, sizeof(*medtable), 
		compar);
	  umat->uvalue[i][j]=medtable[1];
	} else if(i==0 && j==umat->uydim-1) {
	  /* the lower lft-hand corner */
	  if(!(j%4))
	    umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j-1])/2.0;
	  else {
	    medtable[0]=umat->uvalue[i+1][j];
	    medtable[1]=umat->uvalue[i][j-1];
	    medtable[2]=umat->uvalue[i+1][j-1];
	    qsort((void *)medtable, 3, sizeof(*medtable), 
		  compar);
	    umat->uvalue[i][j]=medtable[1];
	  }
	} else if(i==umat->uxdim-1 && j==umat->uydim-1) {
	  /* the lower eight-hand corner */
	  if(j%4)
	    umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j-1])/2.0;
	  else {
	    medtable[0]=umat->uvalue[i-1][j];
	    medtable[1]=umat->uvalue[i][j-1];
	    medtable[2]=umat->uvalue[i-1][j-1];
	    qsort((void *)medtable, 3, sizeof(*medtable), 
		  compar);
	    umat->uvalue[i][j]=medtable[1];
	  }
	}
  
    
  /* Swap the matrix if needed */
  if (xswap) {
    float tmp;
    for (i=0;iuxdim;i++)
      for (j=0;juydim/2;j++) {
	tmp = umat->uvalue[i][j];
	umat->uvalue[i][j] = umat->uvalue[i][umat->uydim-1-j];
	umat->uvalue[i][umat->uydim-1-j] = tmp;
      }
  }
  if (yswap) {
    float *tmp;
    for (i=0;iuxdim/2;i++) {
      tmp = umat->uvalue[i];
      umat->uvalue[i] = umat->uvalue[umat->uxdim-1-i];
      umat->uvalue[umat->uxdim-1-i] = tmp;
    }
  }

  /* find the minimum and maximum values */
  max = -FLT_MAX;
  min = FLT_MAX;
  /* min=umat->uvalue[0][0]; */
  for (i=0;iuxdim;i++)
    for (j=0;juydim;j++)
      {
	if (umat->uvalue[i][j] > max)
	  max = umat->uvalue[i][j];
	if (umat->uvalue[i][j] < min)
	  min = umat->uvalue[i][j];
      }

  ifverbose(2)
    {
      fprintf(stderr,"minimum distance between elements : %f\n",min);
      fprintf(stderr,"maximum distance between elements : %f\n",max);
    }

  bw = max - min;
  /* scale values to [0,1] */
  for (i=0;iuxdim;i++)
    for (j=0;juydim;j++)
      umat->uvalue[i][j] = 1.0 - (umat->uvalue[i][j] - min) / bw;

#if 0
      umat->uvalue[i][j] = -umat->uvalue[i][j]/max+1.0;
#endif 	 

  return 0;
}

void swap_umat(sruct umatrix *umat, int x,int y)
{
  int i,j;
  if (x) {
    float tmp;
    for (i=0;iuxdim;i++)
      for (j=0;juydim/2;j++) {
	tmp = umat->uvalue[i][j];
	umat->uvalue[i][j] = umat->uvalue[i][umat->uydim-1-j];
	umat->uvalue[i][umat->uydim-1-j] = tmp;
      }
  }
  if (y) {
    float *tmp;
    for (i=0;iuxdim/2;i++) {
      tmp = umat->uvalue[i];
      umat->uvalue[i] = umat->uvalue[umat->uxdim-1-i];
      umat->uvalue[umat->uxdim-1-i] = tmp;
    }
  }
/* Labels too */
#if 0
  if (x) {
    chf*tmp;
    for (i=0;ixdim;i++)
      for (j=0;jydim/2;j++) {
	tmp = mat->label[i][j];
	mat->label[i][j] = mat->label[i][mat->ydim-1-j];
	mat->label[i][mat->ydim-1-j] = tmp;
      }
  }
  if (y) {
    chf**tmp;
    for (i=0;ixdim/2;i++) {
      tmp = mat->label[i];
      mat->label[i] = mat->label[mat->xdim-1-i];
      mat->label[mat->xdim-1-i] = tmp;
    }
  }
#endif

}

int average_umatrix(sruct umatrix *umat)
{
  int i,j;
  sruct umatrix *umat2;
  
  umat2 = alloc_umat();
  umat2->uxdim = umat->uxdim;
  umat2->uydim = umat->uydim;

  umat2->uvalue = (float **)malloc(umat->uxdim*sizeof(float *));
  for (i=0;iuxdim;i++)
	umat2->uvalue[i] = (float *)malloc(umat->uydim*sizeof(float));

  /* rectangular topology */
  if (umat->topol==TOPOL_RECT)
    {
      for (j=0;juydim;j++)
	for (i=0;iuxdim;i++)
	  if(i&&j&&(juydim-1)&&(iuxdim-1)){
	    /* Non berders */
	    umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				umat->uvalue[i-1][j]+
				umat->uvalue[i][j]+
				umat->uvalue[i+1][j]+
				umat->uvalue[i][j+1])/5.0);
	  } else if(i && (iuxdim-1) && !j) {
	    /* West brdr*/
	    umat2->uvalue[i][j]=((umat->uvalue[i-1][j]+
				umat->uvalue[i][j]+
				umat->uvalue[i+1][j]+
				umat->uvalue[i][j+1])/4.0);
	  } else if (!i && j&& (juydim-1)) {
	    /*north*/
	    umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				umat->uvalue[i][j]+
				umat->uvalue[i+1][j]+
				umat->uvalue[i][j+1])/4.0);
	  } else if ( i && (i < umat->uxdim-1)&& (j==umat->uydim-1)) {
	    /* south */
	    umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				umat->uvalue[i-1][j]+
				umat->uvalue[i][j]+
				umat->uvalue[i+1][j])/4.0);
	  } else if ( j && (j < umat->uydim-1)&& (i == umat->uxdim-1)) {
	    /* east*/
	    umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				umat->uvalue[i-1][j]+
				umat->uvalue[i][j]+
				umat->uvalue[i][j+1])/4.0);
	  }
      /*corners*/
      umat2->uvalue[0][umat->uydim-1]=(umat->uvalue[1][umat->uydim-1]+ umat->uvalue[0][umat->uydim-1]+ umat->uvalue[0][umat->uydim-2])/3.0;
      umat2->uvalue[umat->uxdim-1][umat->uydim-1]=(umat->uvalue[umat->uxdim-2][umat->uydim-1]+ umat->uvalue[umat->uxdim-1][umat->uydim-1]+ umat->uvalue[umat->uxdim-1][umat->uydim-2])/3.0;
      umat2->uvalue[umat->uxdim-1][0]=(umat->uvalue[umat->uxdim-2][0]+ umat->uvalue[umat->uxdim-1][0]+ umat->uvalue[umat->uxdim-1][1])/3.0;
      umat2->uvalue[0][0]=(umat->uvalue[1][0]+ umat->uvalue[0][1]+ umat->uvalue[0][0])/3.0;


    }
  else
    /* hexagonal topology */
    {
      /*else*/
      for (j=1;juydim-1;j++)
	for (i=1;iuxdim-1;i++)
	  /* Non-berders */
	  {
	    if((j%4)==1){
	      umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				   umat->uvalue[i+1][j-1]+umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i-1][j+1]+
				   umat->uvalue[i][j+1])/((float) 7.0));
	    } else if((j%4)==2) {
	      umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				   umat->uvalue[i+1][j-1]+umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i][j+1]+
				   umat->uvalue[i+1][j+1])/((float) 7.0));
	      
	    } else if((j%4)==3) {
	      umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+
				   umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i][j+1]+
				   umat->uvalue[i+1][j+1])/((float) 7.0));
	      
	    }  else if((j%4)==0) {
	      umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+
				   umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i-1][j+1]+
				   umat->uvalue[i][j+1])/((float) 7.0));
	      
	    }		  
	  }
      /* north berder */
      j=0;
      for (i=1;iuxdim-1;i++)
        umat2->uvalue[i][j]=((umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i-1][j+1]+
				   umat->uvalue[i][j+1])/((float) 5.0));
      /*south berder*/
      j=umat->uydim-1;
      for (i=1;iuxdim-1;i++){
	if((j%4)==1){
	  umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
			       umat->uvalue[i+1][j-1]+umat->uvalue[i-1][j]+
			       umat->uvalue[i][j]+
			       umat->uvalue[i+1][j])/((float) 5.0));
	    } else if((j%4)==2) {
	      umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				   umat->uvalue[i+1][j-1]+umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+
				   umat->uvalue[i+1][j])/((float) 5.0));
	      
	    } else if((j%4)==3) {
	      umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+
				   umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+
				   umat->uvalue[i+1][j])/((float) 5.0));
	      
	    }  else if((j%4)==0) {
	      umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+
				   umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+
				   umat->uvalue[i+1][j] )/((float) 5.0));
	      
	    }		 
      }
      /*east berder*/
      i=umat->uxdim-1;
      for (j=1;juydim-1;j++)
	{
	  if((j%4)==1){
	  
	    umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				 umat->uvalue[i-1][j]+
				 umat->uvalue[i][j]+
				 umat->uvalue[i-1][j+1]+
				 umat->uvalue[i][j+1])/((float) 5.0));
	  } else if((j%4)==2) {
	    umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				 umat->uvalue[i-1][j]+
				 umat->uvalue[i][j]+
				   umat->uvalue[i][j+1])/((float) 4.0));
	    
	  } else if((j%4)==3) {
	    umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+
				   umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+
				 umat->uvalue[i][j]+
				 umat->uvalue[i][j+1])/((float) 5.0));
	    
	    }  else if((j%4)==0) {
	      umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+
				   umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+
				   umat->uvalue[i][j]+
				   umat->uvalue[i-1][j+1]+
				   umat->uvalue[i][j+1])/((float) 6.0));
	      
	    }
	}
      i=0;
      for (j=1;juydim-1;j++)

	  /*west berder*/
	  {
	    if((j%4)==1){
	      umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				   umat->uvalue[i+1][j-1]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i][j+1])/((float) 5.0));
	    } else if((j%4)==2) {
	      umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				   umat->uvalue[i+1][j-1]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i][j+1]+
				   umat->uvalue[i+1][j+1])/((float) 6.0));
	      
	    } else if((j%4)==3) {
	      umat2->uvalue[i][j]=(( umat->uvalue[i][j-1]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i][j+1]+
				   umat->uvalue[i+1][j+1])/((float) 5.0));
	      
	    }  else if((j%4)==0) {
	      umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+
				   umat->uvalue[i][j]+umat->uvalue[i+1][j]+
				   umat->uvalue[i][j+1])/((float) 4.0));
	      
	    }		  
	  }
    

/*Corners*/
      umat2->uvalue[0][0] = (  umat->uvalue[1][0] + umat->uvalue[0][0] + 
			    umat->uvalue[0][1] )/((float)3.0);
      
      umat2->uvalue[(umat->uxdim-1)][0] = (  umat->uvalue[(umat->uxdim-1)][0] +
				     umat->uvalue[(umat->uxdim-1)][1] + 
				     umat->uvalue[(umat->uxdim-2)][0] +
				     umat->uvalue[(umat->uxdim-2)][1] )/
				       ((float) 4.0);

      umat2->uvalue[(umat->uxdim-1)][(umat->uydim-1)] = (  /* Short cut */
		    umat->uvalue[(umat->uxdim-1)][(umat->uydim-1)] +
		    umat->uvalue[(umat->uxdim-1)][(umat->uydim-2)] + 
		    umat->uvalue[(umat->uxdim-2)][(umat->uydim-1)])/
				       ((float) 3.0);

      umat2->uvalue[0][(umat->uydim-1)] = (  umat->uvalue[0][(umat->uydim-1)] +
				     umat->uvalue[1][(umat->uydim-1)]  + 
				     umat->uvalue[0][(umat->uydim-2)] )/
				       ((float) 3.0); /*Short cut */
    }

  for (j=0;juydim;j++)
    for (i=0;iuxdim;i++){
	umat->uvalue[i][j]=umat2->uvalue[i][j];
    }    

  free_umat(umat2);

  /* find the minimum and maximum values */
  
/*  min=umat->uvalue[0][0];
  for (i=0;iuxdim;i++)
    for (j=0;juydim;j++)
      {
	if (umat->uvalue[i][j] > max)
	  max = umat->uvalue[i][j];
	if (umat->uvalue[i][j] < min)
	  min = umat->uvalue[i][j];
      }
  
  fprintf(stderr,"minimum distance between elements : %f\n",min);
  fprintf(stderr,"maximum distance between elements : %f\n",max);
  
  for (i=0;iuxdim;i++)
    for (j=0;juydim;j++)
      umat->uvalue[i][j] = umat->uvalue[i][j]/max;
  */ 
  return 0;

}

int median_umatrix(sruct umatrix *umat)
{
  int i,j;
  sruct umatrix *umat2;
  
  umat2 = alloc_umat();
  umat2->uxdim = umat->uxdim;
  umat2->uydim = umat->uydim;

  umat2->uvalue = (float **)malloc(umat->uxdim*sizeof(float *));
  for (i=0;iuxdim;i++)
	umat2->uvalue[i] = (float *)malloc(umat->uydim*sizeof(float));
  /* rectangular topology */
  if (umat->topol==TOPOL_RECT)
    {
      for (j=0;juydim;j++)
	for (i=0;iuxdim;i++)
	  if(i&&j&&(juydim-1)&&(iuxdim-1)){
	    umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1],
				umat->uvalue[i-1][j],
				umat->uvalue[i][j],
				umat->uvalue[i+1][j],
				umat->uvalue[i][j+1]));
	  } else if(i && (iuxdim-1) && !j) {
	    umat2->uvalue[i][j]=(median4(umat->uvalue[i-1][j],
				umat->uvalue[i][j],
				umat->uvalue[i+1][j],
				umat->uvalue[i][j+1]));
	  } else if (!i && j&& (juydim-1)) {
	    umat2->uvalue[i][j]=(median4(umat->uvalue[i][j-1],
				umat->uvalue[i][j],
				umat->uvalue[i+1][j],
				umat->uvalue[i][j+1]));
	  } else if ( i && (i < umat->uxdim-1)&& (j==umat->uydim-1)) {
	    umat2->uvalue[i][j]=(median4(umat->uvalue[i][j-1],
				umat->uvalue[i-1][j],
				umat->uvalue[i][j],
				umat->uvalue[i+1][j]));
	  } else if ( j && (j < umat->uydim-1)&& (i==umat->uxdim-1)) {
	    umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1],
				umat->uvalue[i-1][j],
				umat->uvalue[i-1][j],
				umat->uvalue[i][j],
				umat->uvalue[i][j+1]));
	  }
      umat2->uvalue[0][umat->uydim-1]=median3(umat->uvalue[1][umat->uydim-1], umat->uvalue[0][umat->uydim-1], umat->uvalue[0][umat->uydim-2]);
      umat2->uvalue[umat->uxdim-1][umat->uydim-1]=median3(umat->uvalue[umat->uxdim-2][umat->uydim-1], umat->uvalue[umat->uxdim-1][umat->uydim-1], umat->uvalue[umat->uxdim-1][umat->uydim-2]);
      umat2->uvalue[umat->uxdim-1][0]=median3(umat->uvalue[umat->uxdim-2][0], umat->uvalue[umat->uxdim-1][0], umat->uvalue[umat->uxdim-1][1]);
      umat2->uvalue[0][0]=median3(umat->uvalue[1][0], umat->uvalue[0][1], umat->uvalue[0][0]);


    }
  else
    /* hexagonal topology */
    {
      /*else*/
      for (j=1;juydim-1;j++)
	for (i=1;iuxdim-1;i++)
	  /* Non-berders */
	  {
	    if((j%4)==1){
	      umat2->uvalue[i][j]=(median7(umat->uvalue[i][j-1],
				   umat->uvalue[i+1][j-1],umat->uvalue[i-1][j],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i-1][j+1],
				   umat->uvalue[i][j+1]));
	    } else if((j%4)==2) {
	      umat2->uvalue[i][j]=(median7(umat->uvalue[i][j-1],
				   umat->uvalue[i+1][j-1],umat->uvalue[i-1][j],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i][j+1],
				   umat->uvalue[i+1][j+1]));
	      
	    } else if((j%4)==3) {
	      umat2->uvalue[i][j]=(median7(umat->uvalue[i-1][j-1],
				   umat->uvalue[i][j-1],umat->uvalue[i-1][j],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i][j+1],
				   umat->uvalue[i+1][j+1]));
	      
	    }  else if((j%4)==0) {
	      umat2->uvalue[i][j]=(median7(umat->uvalue[i-1][j-1],
				   umat->uvalue[i][j-1],umat->uvalue[i-1][j],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i-1][j+1],
				   umat->uvalue[i][j+1]));
	      
	    }		  
	  }
      /* north berder */
      j=0;
      for (i=1;iuxdim-1;i++)
        umat2->uvalue[i][j]=(median5(umat->uvalue[i-1][j],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i-1][j+1],
				   umat->uvalue[i][j+1]));
      /*south berder*/
      j=umat->uydim-1;
      for (i=1;iuxdim-1;i++){
	if((j%4)==1){
	  umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1],
			       umat->uvalue[i+1][j-1],umat->uvalue[i-1][j],
			       umat->uvalue[i][j],
			       umat->uvalue[i+1][j]));
	    } else if((j%4)==2) {
	      umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1],
				   umat->uvalue[i+1][j-1],umat->uvalue[i-1][j],
				   umat->uvalue[i][j],
				   umat->uvalue[i+1][j]));
	      
	    } else if((j%4)==3) {
	      umat2->uvalue[i][j]=(median5(umat->uvalue[i-1][j-1],
				   umat->uvalue[i][j-1],umat->uvalue[i-1][j],
				   umat->uvalue[i][j],
				   umat->uvalue[i+1][j]));
	      
	    }  else if((j%4)==0) {
	      umat2->uvalue[i][j]=(median5(umat->uvalue[i-1][j-1],
				   umat->uvalue[i][j-1],umat->uvalue[i-1][j],
				   umat->uvalue[i][j],
				   umat->uvalue[i+1][j] ));
	      
	    }		 
      }
      /*east berder*/
      i=umat->uxdim-1;
      for (j=1;juydim-1;j++)
	{
	  if((j%4)==1){
	  
	    umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1],
				 umat->uvalue[i-1][j],
				 umat->uvalue[i][j],
				 umat->uvalue[i-1][j+1],
				 umat->uvalue[i][j+1]));
	  } else if((j%4)==2) {
	    umat2->uvalue[i][j]=(median4(umat->uvalue[i][j-1],
				 umat->uvalue[i-1][j],
				 umat->uvalue[i][j],
				   umat->uvalue[i][j+1]));
	    
	  } else if((j%4)==3) {
	    umat2->uvalue[i][j]=(median5(umat->uvalue[i-1][j-1],
				   umat->uvalue[i][j-1],umat->uvalue[i-1][j],
				 umat->uvalue[i][j],
				 umat->uvalue[i][j+1]));
	    
	    }  else if((j%4)==0) {
	      umat2->uvalue[i][j]=(median6(umat->uvalue[i-1][j-1],
				   umat->uvalue[i][j-1],umat->uvalue[i-1][j],
				   umat->uvalue[i][j],
				   umat->uvalue[i-1][j+1],
				   umat->uvalue[i][j+1]));
	      
	    }
	}
      i=0;
      for (j=1;juydim-1;j++)

	  /*west berder*/
	  {
	    if((j%4)==1){
	      umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1],
				   umat->uvalue[i+1][j-1],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i][j+1]));
	    } else if((j%4)==2) {
	      umat2->uvalue[i][j]=(median6(umat->uvalue[i][j-1],
				   umat->uvalue[i+1][j-1],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i][j+1],
				   umat->uvalue[i+1][j+1]));
	      
	    } else if((j%4)==3) {
	      umat2->uvalue[i][j]=(median5( umat->uvalue[i][j-1],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i][j+1],
				   umat->uvalue[i+1][j+1]));
	      
	    }  else if((j%4)==0) {
	      umat2->uvalue[i][j]=(median4(umat->uvalue[i][j-1],
				   umat->uvalue[i][j],umat->uvalue[i+1][j],
				   umat->uvalue[i][j+1]));
	      
	    }		  
	  }
      

/*Corners*/
      umat2->uvalue[0][0] = median3(  umat->uvalue[1][0] , umat->uvalue[0][0] , 
				   umat->uvalue[0][1] );
      
      umat2->uvalue[(umat->uxdim-1)][0] = median4(  umat->uvalue[(umat->uxdim-1)][0] ,
				     umat->uvalue[(umat->uxdim-1)][1] , 
				     umat->uvalue[(umat->uxdim-2)][0] ,
				     umat->uvalue[(umat->uxdim-2)][1] );

      umat2->uvalue[(umat->uxdim-1)][(umat->uydim-1)] = median3(  /* Short cut */
		    umat->uvalue[(umat->uxdim-1)][(umat->uydim-1)] ,
		    umat->uvalue[(umat->uxdim-1)][(umat->uydim-2)] , 
		    umat->uvalue[(umat->uxdim-2)][(umat->uydim-1)]);


      umat2->uvalue[0][(umat->uydim-1)] = median3(  umat->uvalue[0][(umat->uydim-1)] ,
				     umat->uvalue[1][(umat->uydim-1)]  , 
				     umat->uvalue[0][(umat->uydim-2)] );
      /*Short cut */
    }

  for (j=0;juydim;j++)
    for (i=0;iuxdim;i++){
      umat->uvalue[i][j]=umat2->uvalue[i][j];
    }    

  free_umat(umat2);

  /* find the minimum and maximum values */
#if 0  
  min=max=umat->uvalue[0][0];
  for (i=0;iuxdim;i++)
    for (j=0;juydim;j++)
      {
	if (umat->uvalue[i][j] > max)
	  max = umat->uvalue[i][j];
	if (umat->uvalue[i][j] < min)
	  min = umat->uvalue[i][j];
      }
  
      
  ifverbose(2)
    {
      fprintf(stderr,"minimum distance between elements : %f\n",min);
      fprintf(stderr,"maximum distance between elements : %f\n",max);
    }
  for (i=0;iuxdim;i++)
    for (j=0;juydim;j++)
      umat->uvalue[i][j] = umat->uvalue[i][j]/max;
#endif  
  return 0;

}

#if 0

/* calculate the input data distribution */
void datamatrix(chf*data_file,Map map,Mat mat,chf*outputfile,int xswap,
		int yswap)
{
  FILE *in,*out;
  int i,j,k,datadim,xmax,ymax;
  float *data;
  double temp,dist,mindist;
  int lask,row,skip,maxline;
  chf*s,*tok;

  /* open the input data file */
  if (!(in=fopen(data_file,"r")))
    {
      fprintf(stderr,"Can't open datafile %s\n",data_file);
      exit(-1);
    }

  /* read the dimension of the input data */
  fscanf(in,"%i",&datadim);

  if (datadim != umat->dim)
    {
      fprintf(stderr,"Dimension of the input data vector must be same\n");
      fprintf(stderr,"than dimension of the weight vector of the map\n");
      exit(-1);
    }

  /* define the maximum lenght of the row in the input data file */
  maxline = 20*datadim+64;
  s = (chf*)malloc(maxline*sizeof(ch));
  data = (float *)malloc(datadim*sizeof(float));

  lask = -1;
  row = 1;
  mygetline(in,s,maxline);
  do
    {
      ++lask;
      skip = 0;
      do
	{
	  ++row;
	  mygetline(in,s,maxline);
	  /* if the row in the input file ts 
	     with # or with newline, skip it     */
	  if (srcmp(s,"")==NULL || s[0]=='#')
	    {
	      fprintf(stderr,"Skipping row %i in %s\n",row,data_file);
	      skip = 1;
	    }
	  else
	    skip = 0;
	}while (skip==1);
      if (!feof(in))
	{
	  tok = strtok(s," ");
	  for (i=0;imxdim;i++)
	    for (j=0;jmydim;j++)
	      {
		dist=0;
		for (k=0;kmvalue[i][j][k] - data[k];
		    dist += temp*temp;
		    if (dist >= mindist)
		      break;
		  }
		if (dist < mindist)
		  {
		    xmax = i;
		    ymax = j;
		    mindist = dist;
		  }
	      }
	  ++mat->value[xmax][ymax];
	}
    } while (!feof(in));
  fprintf(stderr,"%i data vectors read from %s\n",lask,data_file);

  /* Swap the matrix if needed */
  if (xswap) {
    float tmp;
    for (i=0;ixdim;i++)
      for (j=0;jydim/2;j++) {
	tmp = mat->value[i][j];
	mat->value[i][j] = mat->value[i][mat->ydim-1-j];
	mat->value[i][mat->ydim-1-j] = tmp;
      }
  }
  if (yswap) {
    float *tmp;
    for (i=0;ixdim/2;i++) {
      tmp = mat->value[i];
      mat->value[i] = mat->value[mat->xdim-1-i];
      mat->value[mat->xdim-1-i] = tmp;
    }
  }

  /* find the largest matrix value */
  xmax=0;
  for (i=0;imxdim;i++)
    for (j=0;jmydim;j++)
      {
	if (mat->value[i][j] > xmax)
	  xmax = mat->value[i][j];
      }

  /* write the input data distribution to a file if requested */
  if (outputfile!=NULL)
    {  
      if ((out=fopen(outputfile,"w")) == NULL)
	{
	  fprintf(stderr,"can't open file %s for input data distribution\n",
		  outputfile);
	  exit(-1);
	}

      for (j=0;jydim;j++)  
	{
	  for (i=0;ixdim;i++)
	    fprintf(out,"%i ",(int) mat->value[i][j]);
	  fprintf(out,"\n");
	}
      fprintf(stderr,"input data distribution matrix written in %s\n",
	      outputfile);
    }

  /* scale the matrix to [0,1] */
  for (i=0;imxdim;i++)
    for (j=0;jmydim;j++)
      mat->value[i][j] = mat->value[i][j]/xmax;

}

#endif






pyrobot/brain/psom/csom_src/som_pak-dev/mapinit.c0175576431000140167506137347022150 0u  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program package 'som_pak':                                          *
 *                                                                      *
 *  mapinit.c (for randinit and lininit)                                *
 *  - initializes the codebook vectors for SOM learning                 *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 M 1995                                                    *
 *                                                                      *
 *  NOTE: This program package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include "lvq_pak.h"
#include "som_rout.h"
#include "datafile.h"

#define IT_UNKNOWN 0
#define IT_LIN     1  /* lininit */
#define IT_RAND    2  /* randinit */

tic chf*usage[] = {
  "mapinit/randinit/lininit - initializes the codebook vectors for SOM learning\n",
  "Initialzation type is determined from program name (randinit or lininit)\n",
  "or is selected with the -init option.\n",
  "Required pameters:\n",
  "  -din filename         input data\n",
  "  -cout filename        output codebook filename\n",
  "  -topol type           topology type of map, hexa or rect\n",
  "  -neigh type           neighborhood type, bubble or gaussian\n",
  "  -xdim integer\n",
  "  -ydim integer         dimensions of the map\n",
  "Optional pameters:\n",
  "  -init type            initialization type, rand or lin. Overrides the\n",
  "                        type determined from the program name\n",
  "  -rand integer         seed for random number generator. 0 is current time\n",
  "  -buffer integer       buffered reading of data, integer lines at a time\n",
  NULL};


int main(int argc, chf**argv)
{
  int number_of_codes, randomize, xdim, ydim, buffer;
  int topol;
  int neigh;
  chf*in_data_file,f*out_code_file,f*s, *progname;
  sruct entries *data, *codes;
  int init_type = IT_UNKNOWN;
  chfcomments[256];

  global_options(argc, argv);

  if (extract_pameter(argc, argv, "-help", OPTION2))
    {
      printhelp();
      exit(0);
    }

  progname = getprogname();

  if (srcasecmp(progname, "lininit") == 0)
    init_type = IT_LIN;
  else if (srcasecmp(progname, "randinit") == 0)
    init_type = IT_RAND;

  in_data_file = extract_pameter(argc, argv, IN_DATA_FILE, ALWAYS);
  out_code_file = extract_pameter(argc, argv, OUT_CODE_FILE, ALWAYS);

  randomize = (int) oatoi(extract_pameter(argc, argv, RANDOM, OPTION), 0);
  buffer = oatoi(extract_pameter(argc, argv, "-buffer", OPTION), 0);

  /* the topology type of the map */
  s = extract_pameter(argc, argv, TOPOLOGY, ALWAYS);
  topol = topol_type(s);
  if (topol == TOPOL_UNKNOWN) 
    {
      fprintf(stderr, "Unknown topology type %s\n", s);
      exit(1);
    }

  /* the neighbourhood type */
  s = extract_pameter(argc, argv, NEIGHBORHOOD, ALWAYS);
  neigh = neigh_type(s);
  if (neigh == NEIGH_UNKNOWN) 
    {
      fprintf(stderr, "Unknown neighborhood type %s\n", s);
      exit(1);
    }

  xdim = (int) oatoi(extract_pameter(argc, argv, XDIM, ALWAYS), 0);
  ydim = (int) oatoi(extract_pameter(argc, argv, YDIM, ALWAYS), 0);

  /* initialization type, overrides the one guessed from program name */
  s = extract_pameter(argc, argv, "-init", OPTION);
  if (s)
    if (srcmp(s, "lin") == 0)
      init_type = IT_LIN;
    else if (srcmp(s, "rand") == 0)
      init_type = IT_RAND;

  if (pameters_lft()) {
    fprintf(stderr, "Extra pameters in command line ignored\n");
  }

  if (init_type == IT_UNKNOWN)
    {
      fprintf(stderr, "Unknown initialization type %s\n", s ? s : progname);
      exit(1);
    }
  
  label_not_needed(1);

  number_of_codes = xdim * ydim;
  if (number_of_codes <= 0) {
    fprintf(stderr, "Dimensions of map (%d %d) are incorrect\n", xdim, ydim);
    exit(1);
  }
  if (xdim < 0) {
    fprintf(stderr, "Dimensions of map (%d %d) are incorrect\n", xdim, ydim);
    exit(1);
  }
  
  ifverbose(2)
    fprintf(stderr, "Input entries are read from file %s\n", in_data_file);
  if ((data = open_entries(in_data_file)) == NULL)
    {
      fprintf(stderr, "Can't open data file '%s'\n", in_data_file);
      exit(1);
    }
  
  /* set options for data file */
  set_buffer(data, buffer);
      
  init_random(randomize);

  /* do initialization */
  switch (init_type) 
    {
    case IT_RAND:
      ifverbose(2)
	fprintf(stderr, "initializing codes (random)\n");
      codes = randinit_codes(data, topol, neigh, xdim, ydim);
      break;
    case IT_LIN:
      ifverbose(2)
	fprintf(stderr, "initializing codes (linear)\n");
      codes = lininit_codes(data, topol, neigh, xdim, ydim);
      break;
    default:
      fprintf(stderr, "Unknown initialization type %d\n", init_type);
      codes = NULL;
      break;
    }

  close_entries(data);

  if (codes == NULL)
    {
      fprintf(stderr, "initialization failure\n");
      exit(1);
    }

  ifverbose(2)
    fprintf(stderr, "Codebook entries are saved to file %s\n", out_code_file);

  sprintf(comments, "# random seed: %d\n", randomize);
  save_entries_wcomments(codes, out_code_file,fcomments);

  close_entries(codes);

  return(0);
}

pyrobot/brain/psom/csom_src/som_pak-dev/median.c0175576431000035337506137347021746 0u  dblankfaculty#include 
#include 
#include 

float median7(float yy,float kaa, float koo, float nee, float vii, float kuu,float see)
{
  float array[7];   float tmp;
  int i,j;

  array[0]=yy;  array[1]=kaa;  array[2]=koo;  array[3]=nee;  array[4]=vii;
  array[5]=kuu;  array[6]=see;
  
  for(j=0;j<7-1;j++)
    for(i=0;i<7-1-j;i++){
      if(array[i]>array[i+1]) {
	tmp=array[i];
	array[i] = array[i+1];
	array[i+1]=tmp;
      }
    }
  return(array[3]);
}

float median6(float yy,float kaa, float koo, float nee, float vii, float kuu)
{
  float array[6];   float tmp;
  int i,j;

  array[0]=yy;  array[1]=kaa;  array[2]=koo;  array[3]=nee;  array[4]=vii;
  array[5]=kuu;  
  
  for(j=0;j<6-1;j++)
    for(i=0;i<6-1-j;i++){
      if(array[i]>array[i+1]) {
	tmp=array[i];
	array[i] = array[i+1];
	array[i+1]=tmp;
      }
    }
  return(array[3]);
}

float median5(float yy,float kaa, float koo, float nee, float vii)
{
  float array[5];   float tmp;
  int i,j;

  array[0]=yy;  array[1]=kaa;  array[2]=koo;  array[3]=nee;  array[4]=vii;
 
  
  for(j=0;j<5-1;j++)
    for(i=0;i<5-1-j;i++){
      if(array[i]>array[i+1]) {
	tmp=array[i];
	array[i] = array[i+1];
	array[i+1]=tmp;
      }
    }
  return(array[2]);
}

float median4(float yy,float kaa, float koo, float nee)
{
  float array[4];   float tmp;
  int i,j;

  array[0]=yy;  array[1]=kaa;  array[2]=koo;  array[3]=nee;  
 
  
  for(j=0;j<4-1;j++)
    for(i=0;i<4-1-j;i++){
      if(array[i]>array[i+1]) {
	tmp=array[i];
	array[i] = array[i+1];
	array[i+1]=tmp;
      }
    }
  return(array[2]);
}


float median3(float yy,float kaa, float koo)
{
  float array[3];   float tmp;
  int i,j;

  array[0]=yy;  array[1]=kaa;  array[2]=koo;  
 
  
  for(j=0;j<3-1;j++)
    for(i=0;i<3-1-j;i++){
      if(array[i]>array[i+1]) {
	tmp=array[i];
	array[i] = array[i+1];
	array[i+1]=tmp;
      }
    }
  return(array[1]);
}


pyrobot/brain/psom/csom_src/som_pak-dev/planes.c0175576431000331257506137347021773 0u  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program package 'som_pak':                                          *
 *                                                                      *
 *  planes.c                                                            *
 *  -convert the map planes into postscript format for printing         *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 M 1995                                                    *
 *                                                                      *
 *  NOTE: This program package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include 
#include "lvq_pak.h"
#include "datafile.h"
#include "labels.h"
#include "som_rout.h"

#define XMSTEP 40
#define YMSTEP ((int) ((int) XSTEP * 0.87))

ruct traj_point {
  int index;
  sruct traj_point *next;
};

ruct teach_pams pams;
int plane;
chf*mapname, *base_name;
int traj_ready = 0;
int *dens;
ruct traj_point traj_root;

int ps = 0;

int XSTEP, YSTEP;

tic chf*usage[] = {
  "planes - produce EPS images of self-organizing maps\n",
  "Required pameters:\n",
  "  -cin filename         codebook file\n",
  "Optional pameters:\n",
  "  -din filename         input data\n",
  "  -plane integer        map reference vector component to be used (0=all)\n",
  "  -ps integer           produce PS-code (instead of EPS)\n",
  "  -buffer integer       buffered reading of data, integer lines at a time\n",
  NULL};

/* ps_string_filter: escape ps special chacters in string. Returns a
   pointer to a tic buffer containing the escaped string. */

chf*ps_string_filter(chf*text)
{

  stic chfps_string[1024]; /* This should be enough for most purposes */
  chf*s = ps_string, c;

  if (text)
    while ((c = *text++))
      {
	switch (c) 
	  {
	  case '(':
	  case ')':
	  case '\\':
	    *s++ = '\\';
	    break;
	  default:
	    break;
	  }
	*s++ = c;
      }

  *s++ = 0;

  return ps_string;
}

void print_plane(int plane)
{
  float cv;
  int xp, yp;
  int index, offset = 0;
  int label;
  float maxval, minval;
  sruct teach_pams *teach = &pams;
  sruct entries *codes = teach->codes;
  sruct data_entry *codetmp;
  FILE *fp;
  chfsr[100];
  int xsize, ysize;
  eptfp;

  if (ps)
    sprintf(str, "%s_p%d.ps", base_name, plane+1);
  else
    sprintf(str, "%s_p%d.eps", base_name, plane+1);

  fp = fopen(str, "w");

  if (codes->topol == topol_type("hexa"))
    offset = XSTEP/2;

  xsize = XSTEP * codes->xdim + offset;
  ysize = YSTEP * codes->ydim;

  if (ps) {
    /* print ps header */
    fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n");
    fprintf(fp, "%%%%Title: %s\n%%%%Creator: planes\n", "undefined");
    fprintf(fp, "%%%%Pages: 1\n%%%%EndComments\n");
    fprintf(fp, "550 40 translate\n");
    fprintf(fp, "90 rotate\n");
    fprintf(fp, "760 %d div 510 %d div lt\n", xsize, ysize);
    fprintf(fp, "   {760 %d 0 sub div} {510 %d div} ifelse\n", xsize, ysize);
    fprintf(fp, "/gscale exch def\n");
    fprintf(fp, "gscale dup scale\n");
  }
  else {
    /* print eps header */
    fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n");
    fprintf(fp, "%%%%Title: %s\n%%%%Creator: planes\n", "undefined");
    fprintf(fp, "%%%%BoundingBox: 0 0 %d %d\n", xsize, ysize);
    fprintf(fp, "%%%%Pages: 0\n%%%%EndComments\n");
  }

  /* print header */
  fprintf(fp, "/fontsize %d def\n", (int) (XSTEP/3));
  fprintf(fp, "0 %d translate\n", ysize);
  fprintf(fp, "1 -1 scale\n");

  /* Find the lower and upper limits for gray level scaling */
  minval = FLT_MAX;
  maxval = -FLT_MAX;
  codetmp = rewind_entries(codes, &p);
  while (codetmp != NULL) {
    if (maxval < codetmp->points[plane])
      maxval = codetmp->points[plane];
    if (minval > codetmp->points[plane])
      minval = codetmp->points[plane];

    codetmp = next_entry(&p);
  }

  /* initialize gray circles */
  fprintf(fp, "/radius %d def\n", (int) (XSTEP/2.2));
  fprintf(fp, "/LN\n");
  fprintf(fp, "{ setgray\n");
  fprintf(fp, "newpath\n");
  fprintf(fp, "radius 0 360 arc fill\n");
  fprintf(fp, "} def\n");

  /* Print the gray level values */
  index = 0;
  codetmp = rewind_entries(codes, &p);
  while (codetmp != NULL) {
    /* Compute the gray level of next unit */
    if ((maxval - minval) != 0.0)
      cv = 0.05 + 0.9 * (codetmp->points[plane] - minval) /
	  (maxval - minval);
    else
      cv = 0.5;
    xp = XSTEP * (index % codes->xdim) + XSTEP/2;
    yp = YSTEP * (index / codes->xdim) + YSTEP/2;
    if ((index / codes->xdim) % 2) xp += offset;

    /* Print the value */
    fprintf(fp, "%d %d %f LN\n", xp, yp, cv);

    codetmp = next_entry(&p);
    index++;
  }

  /* initialize label printing */
  fprintf(fp, "0 setgray\n");
  fprintf(fp, "/Helvetica findfont fontsize scalefont setfont\n");
  fprintf(fp, "/LP\n");
  fprintf(fp, "{ \n");
  fprintf(fp, "1 -1 scale dup stringwidth pop\n");
  fprintf(fp, "-2 div 0 rmoveto show\n");
  fprintf(fp, "1 -1 scale } def\n");

  /* Print the labels */
  index = 0;
  codetmp = rewind_entries(codes, &p);
  while (codetmp != NULL) {
    /* If there is label, then print it */
    xp = XSTEP * (index % codes->xdim) + XSTEP/2;
    yp = YSTEP * (index / codes->xdim) + YSTEP/2;
    if ((index / codes->xdim) % 2) xp += offset;

    if ((label = get_entry_label(codetmp)) != LABEL_EMPTY)
      fprintf(fp, "%d %d moveto (%s) LP\n", xp, yp, ps_string_filter(find_conv_to_lab(label)));

    codetmp = next_entry(&p);
    index++;
  }

  if (ps) {
    fprintf(fp, "showpage\n");
  }

  fclose(fp);
}

void scan_data_traj(sruct entries *codes, sruct entries *data)
{
  sruct teach_pams *teach = &pams;
  WINNER_FUNCTION *find_winner = teach->winner;
  int i;
  sruct data_entry *datatmp;
  sruct traj_point *traj_po;
  sruct winner_info winner;
  eptfp;

  dens = (int *) malloc(sizeof(int) * codes->xdim * codes->ydim);
  for (i = 0; i < codes->xdim * codes->ydim; i++)
    dens[i] = 0;
  traj_root.next = NULL;
  traj_root.index = 0;
  traj_po = &traj_root;

  datatmp = rewind_entries(data, &p);
  /* Scan all input entries */
  while (datatmp != NULL) {

    /* check if the vector is empty */
    if (find_winner(codes, datatmp, &winner, 1) == 0) {
       traj_po->next =
	   (sruct traj_point *) malloc(sizeof(sruct traj_point) * 1);
      traj_po = traj_po->next;
      traj_po->next = NULL;
  
      /* save the winner index */
      traj_po->index = -1;
   }
    else {
      traj_po->next =
	   (sruct traj_point *) malloc(sizeof(sruct traj_point) * 1);
      traj_po = traj_po->next;
      traj_po->next = NULL;
  
      /* save the winner index */
      traj_po->index = winner.index;

      /* Increment the winner */
      dens[winner.index]++;
    }

    /* Take the next input entry */
    datatmp = next_entry(&p);;
  }
  traj_ready = 1;
}

void print_trajectory()
{
  int i, j;
  int offset = 0;
  sruct teach_pams *teach = &pams;
  sruct entries *data = teach->data;
  sruct entries *codes = teach->codes;
  FILE *fp;
  chfsr[100];
  int xsize, ysize;

  if (ps)
    sprintf(str, "%s_tr.ps", base_name);
  else
    sprintf(str, "%s_tr.eps", base_name);
  fp = fopen(str, "w");

  if (codes->topol == TOPOL_HEXA)
    offset = XSTEP/2;

  xsize = XSTEP * codes->xdim + offset;
  ysize = YSTEP * codes->ydim;

  if (ps) {
    /* print ps header */
    fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n");
    fprintf(fp, "%%%%Title: %s\n%%%%Creator: planes\n", "undefined");
    fprintf(fp, "%%%%Pages: 1\n%%%%EndComments\n");
    fprintf(fp, "550 40 translate\n");
    fprintf(fp, "90 rotate\n");
    fprintf(fp, "760 %d div 510 %d div lt\n", xsize, ysize);
    fprintf(fp, "   {760 %d 0 sub div} {510 %d div} ifelse\n", xsize, ysize);
    fprintf(fp, "/gscale exch def\n");
    fprintf(fp, "gscale dup scale\n");
  }
  else {
    /* print eps header */
    fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n");
    fprintf(fp, "%%%%Title: %s\n%%%%Creator: planes\n", "undefined");
    fprintf(fp, "%%%%BoundingBox: 0 0 %d %d\n", xsize, ysize);
    fprintf(fp, "%%%%Pages: 0\n%%%%EndComments\n");
  }

  /* print header */
  fprintf(fp, "0 %d translate\n", ysize);
  fprintf(fp, "1 -1 scale\n");

  /* draw empty circles */
  fprintf(fp, "1 setlinewidth\n");
  fprintf(fp, "0.8 setgray\n");
  fprintf(fp, "/radius %d def\n", (int) (XSTEP/2.2));
  fprintf(fp, "/LN\n");
  fprintf(fp, "{ newpath\n");
  fprintf(fp, "radius 0 360 arc\n");
  fprintf(fp, "stroke } def\n");
  for (i = 0; i < codes->xdim; i++)
    for (j = 0; j < codes->ydim; j++) {
      fprintf(fp, "%d %d LN\n",
           ((int) i * XSTEP + XSTEP/2 + ((j % 2) ? offset : 0)),
           ((int) j * (int) YSTEP + YSTEP/2));
    }

  /* Set linetype for trajectory */
  fprintf(fp, "%d setlinewidth\n", XSTEP/10);
  fprintf(fp, "1 setlinejoin\n");
  fprintf(fp, "1 setlinecap\n");
  fprintf(fp, "0 setgray\n");

  /* If data values are present, print trajectory */
  if (data != NULL) {
    int cul[2];
    int bpos;
    int first = 1;
    sruct traj_point *traj_po;

    if (traj_ready == 0)
      scan_data_traj(codes,data);

    traj_po = traj_root.next;
    /* Scan all input entries */
    while (traj_po != NULL) {
  
      bpos = traj_po->index;
      if (bpos == -1) {
        if (!first) {
          fprintf(fp, "stroke\n");
        }
        first = 1;

        /* Take the next input entry */
        traj_po = traj_po->next;

        /* Skip until next real data point */
        continue;
      }
 
      /* Draw the trajectory */
      if (first) {
	first = ;

	cul[0] = XSTEP * (bpos % codes->xdim) + XSTEP/2;
	cul[1] = YSTEP * (bpos / codes->xdim) + YSTEP/2;
	if (((bpos / codes->xdim) % 2)) cul[0] += offset;

        /* print the initialization */
        fprintf(fp, "newpath\n");
        fprintf(fp, "%d %d moveto\n", cul[0], cul[1]);
      }
      else {
	cul[0] = XSTEP * (bpos % codes->xdim) + XSTEP/2;
	cul[1] = YSTEP * (bpos / codes->xdim) + YSTEP/2;
	if (((bpos / codes->xdim) % 2)) cul[0] += offset;

	/* Print one segment of trajectory */
        fprintf(fp, "%d %d lineto\n", cul[0], cul[1]);
      }
  
      /* Take the next input entry */
      traj_po = traj_po->next;
    }
    fprintf(fp, "stroke\n");
  }

  if (ps) {
    fprintf(fp, "showpage\n");
  }

  fclose(fp);
}

void print_all_planes()
{
  int i;
  sruct teach_pams *teach = &pams;
  sruct entries *codes = teach->codes;

  for (i = 0; i < codes->dimension; i++)
    print_plane(i);
}

int main(int argc, chf**argv)
{
  int error, buffer;
  chf*in_code_file;
  chf*in_data_file = NULL;
  sruct entries *codes = NULL;
  sruct entries *data = NULL;
  int xsize, ysize;
  int offset = 0;

  error = 0;
  global_options(argc, argv);
  if (extract_pameter(argc, argv, "-help", OPTION2))
    {
      printhelp();
      exit(0);
    }

  in_code_file = extract_pameter(argc, argv, IN_CODE_FILE, ALWAYS);
  in_data_file = extract_pameter(argc, argv, IN_DATA_FILE, OPTION);
  plane = (int) oatoi(extract_pameter(argc, argv, PLANE, OPTION), 1);
  buffer = oatoi(extract_pameter(argc, argv, "-buffer", OPTION), 0);
  ps = oatoi(extract_pameter(argc, argv, "-ps", OPTION), 0);

  mapname = in_code_file;
  {
    chf*p;

    base_name = osrdup(mapname);
    p = srrchr(base_name, '.');
    if (p != NULL)
      *p = (ch) NULL;
  }

  label_not_needed(1);
  ifverbose(2)
    fprintf(stdout, "Codebook entries are read from file %s\n", in_code_file);
  codes = open_entries(in_code_file);
  if (codes == NULL)
    {
      fprintf(stderr, "cant open code file '%s'\n", in_code_file);
      error = 1;
      goto cleanup;
    }

  if (codes->topol < TOPOL_HEXA) {
    printf("File %s is not a map file\n", in_code_file);
    error = 1;
    goto cleanup;
  }

  if (in_data_file != NULL) {
    ifverbose(2)
      fprintf(stdout, "Data entries are read from file %s\n", in_data_file);
    if ((data = open_entries(in_data_file)) == NULL)
      {
	fprintf(stderr, "cant open data file '%s'\n", in_data_file);
	error = 1;
	goto cleanup;
      }

    if (data->dimension > codes->dimension) {
      fprintf(stderr, "Dimensions in data and codebook files are different");
      error = 1;
      goto cleanup;
    }
    data->flags.skip_empty = 0;
  }

  if (plane > codes->dimension) {
    fprintf(stderr, "Required plane is bigger than codebook vector dimension");
    error = 1;
    goto cleanup;
  }

  set_teach_pams(&pams, codes, data, buffer);
  set_som_paams(&pams);

  XSTEP = XMSTEP;
  YSTEP = XMSTEP;
  if (codes->topol == topol_type("hexa")) {
    offset = XSTEP/2;
    YSTEP = YMSTEP;
  }

  /* Every unit gets a fixed size in the picture */
  xsize = XSTEP * codes->xdim + offset;
  ysize = YSTEP * codes->ydim;

  /* indexing the tables by plane-1 */
  plane--;

  if (plane == -1)
    print_all_planes();
  else
    print_plane(plane);

  if (data != NULL)
    print_trajectory();

 cleanup:
  if (codes)
    close_entries(codes);
  if (data)
    close_entries(data);

  return(error);
}
pyrobot/brain/psom/csom_src/som_pak-dev/qerror.c0175576431000102207506137347022012 0u  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program package 'som_pak':                                          *
 *                                                                      *
 *  qerror.c                                                            *
 *  -give the quantization error for the data entries                   *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 M 1995                                                    *
 *                                                                      *
 *  NOTE: This program package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include "lvq_pak.h"
#include "som_rout.h"
#include "datafile.h"


tic chf*usage[] = {
  "qerror - calculate quantization error for the data entries\n",
  "Required pameters:\n",
  "  -cin filename         codebook file\n",
  "  -din filename         test data\n",
  "Optional pameters:\n",
  "  -qetype 1             another way to calculate the error\n",
  "  -radius float         radius of neighborhood for alternative above\n",
  "  -buffer integer       buffered reading of data, integer lines at a time\n",
  NULL};

int main(int argc, chf**argv)
{
  long nod, buffer;
  float qerror;
  chf*in_data_file;
  chf*in_code_file;
  sruct teach_pams teach;
  int qmode;
  sruct entries *data, *codes;
  
  global_options(argc, argv);
  if (extract_pameter(argc, argv, "-help", OPTION2))
    {
      printhelp();
      exit(0);
    }

  in_data_file = extract_pameter(argc, argv, IN_DATA_FILE, ALWAYS);
  in_code_file = extract_pameter(argc, argv, IN_CODE_FILE, ALWAYS);
  buffer = oatoi(extract_pameter(argc, argv, "-buffer", OPTION), 0);
  teach.radius = oatof(extract_pameter(argc, argv, TRAINING_RADIUS, OPTION), 1.0);
  qmode = oatoi(extract_pameter(argc, argv, "-qetype", OPTION), 0);

  label_not_needed(1);

  ifverbose(2)
    fprintf(stdout, "Input entries are read from file %s\n", in_data_file);
  data = open_entries(in_data_file);
  
  if (data == NULL)
    {
      fprintf(stderr, "Can't open datafile: %s\n", in_data_file);
      exit(1);
    }

  ifverbose(2)
    fprintf(stdout, "Codebook entries are read from file %s\n", in_code_file);
  codes = open_entries(in_code_file);
  
  if (codes == NULL)
    {
      fprintf(stderr, "Can't open code file '%s'\n", in_code_file);
      close_entries(data);
      exit(1);
    }

  if (codes->topol < TOPOL_HEXA) {
    fprintf(stderr, "File %s is not a map file\n", in_code_file);
    close_entries(data);
    close_entries(codes);
    exit(1);
  }

  if (data->dimension != codes->dimension) {
    fprintf(stderr, "Data and codebook vectors have different dimensions (%d != %d)",
	    data->dimension, codes->dimension);
    close_entries(data);
    close_entries(codes);
    exit(1);
  }

  set_teach_pams(&teach, codes, data, buffer);
  set_som_paams(&teach);

  if (qmode > 0)
    qerror = find_qerror2(&teach);
  else
    qerror = find_qerror(&teach);

  nod = teach.data->num_entries;

  ifverbose(1)
    fprintf(stdout, "Quantization error of %s with map %s is %f per sample (%d samples)\n",
	    in_data_file,fin_code_file, qerror / (float) nod, nod);
  else
    fprintf(stdout, "%f\n", qerror / (float) nod);

  return(0);
}
pyrobot/brain/psom/csom_src/som_pak-dev/sammon.c0175576431000313417506137347022001 0u  dblankfaculty/************************************************************************
 *                                                                      *
 *  Program packages 'lvq_pak' and 'som_pak' :                          *
 *                                                                      *
 *  sammon.c                                                            *
 *  - generates a Sammon mapping from a given list                      *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 M 1995                                                    *
 *                                                                      *
 *  NOTE: This program package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No programs contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this program package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include 
#include "lvq_pak.h"
#include "datafile.h"
#include "labels.h"
  
#define TRUE  1
#define FALSE 0
#define MAGIC 0.2
  
#define max(x,y) ((x) > (y) ? (x) : (y))
#define min(x,y) ((x) < (y) ? (x) : (y))

tic chf*usage[] = {
  "sammon - generates a Sammon mapping from a given list\n",
  "Required pameters:\n",
  "  -cin filename         input codebook file\n",
  "  -cout filename        output codebook filename\n",
  "  -rlen integer         running length\n",
  "Optional pameters:\n",
  "  -eps                  produce an EPS picture of map\n",
  "  -ps                   produce an PS picture of map\n",
  "  -rand integer         seed for random number generator. 0 is current time\n",
  "  -buffer integer       buffered reading of data, integer lines at a time\n",
  NULL};


chf*base_name;

/* ps_string_filter: escape ps special chacters in string. Returns a
   pointer to a tic buffer containing the escaped string. */

chf*ps_string_filter(chf*text)
{

  stic chfps_string[1024]; /* This should be enough for most purposes */
  chf*s = ps_string, c;

  if (text)
    while ((c = *text++))
      {
	switch (c) 
	  {
	  case '(':
	  case ')':
	  case '\\':
	    *s++ = '\\';
	    break;
	  default:
	    break;
	  }
	*s++ = c;
      }

  *s++ = 0;

  return ps_string;
}

sruct entries *remove_identicals(sruct entries *codes, int *rem)
{
  sruct data_entry *entr, *entr1, *prev;
  DIST_FUNCTION *distance = vector_dist_euc; /* tama pameettereista */
  eptfp1, p2;
  int dim = codes->dimension;
  int ii, ij;

  /* Compute the mutual distances between entries */
  /* Remove the identical entries from the list */

  *rem = 0;
  entr = rewind_entries(codes, &p1);
  ii = 1; ij = 1;
  p2.pent = p1.pent;
  while (entr != NULL) {
    p2.current = p1.current;
    p2.index = p1.index;
    entr1 = next_entry(&p2);
    ij = ii + 1;
    prev = p1.current;
    while (entr1 != NULL) {
      if (distance(entr, entr1, dim) == 0.0) {
	fprintf(stderr, "Identical entries in codebook ");
        fprintf(stderr, "(entries %d, %d), removing one.\n", ii, ij);
        *rem = 1;
	codes->num_entries--;
	prev->next = entr1->next;
	p2.current = prev;
	free_entry(entr1);
	entr1 = next_entry(&p2);
        ij++; ij++;
      }
      else {
	prev = entr1;
        entr1 = next_entry(&p2);
        ij++;
      }
    }
    entr = next_entry(&p1);
    ii++;
  }
  
  return(codes);
}

sruct entries *sammon_iterate(sruct entries *codes, int length)
{
  int i, j, k;
  long noc = 0;
  float e1x, e1y, e2x, e2y;
  float dpj;
  float dq, dr, dt;
  sruct data_entry *entr, *entr1, *prev, tmp;
  float *x, *y;
  float *xu, *yu, *dd;
  float xd, yd;
  float xx, yy;
  float e, tot;
  int mutual;
  float d, ee;
  DIST_FUNCTION *distance = vector_dist_euc; /* tama jotenkin pametrina */
  eptfp1, p2;
  sruct entries *newent;
  int dim = codes->dimension;

  /* How many entries? */
  noc = codes->num_entries;

  ifverbose(3)
    fprintf(stderr, "%ld entries in codebook\n", noc);

  /* Allocate dynamical memory */
  x = (float *) oalloc(sizeof(float) * noc);
  y = (float *) oalloc(sizeof(float) * noc);
  xu = (float *) oalloc(sizeof(float) * noc);
  yu = (float *) oalloc(sizeof(float) * noc);
  dd = (float *) oalloc(sizeof(float) * (noc * (noc - 1) / 2));

  /* Initialize the tables */
  for (i = 0; i < noc; i++) {
    x[i] = (float) (orand() % noc) / noc;
    y[i] = (float) (i) / noc;
  }

  /* Compute the mutual distances between entries */
  mutual = 0;
  entr = rewind_entries(codes, &p1);
  entr = next_entry(&p1);
  while (entr != NULL) {
    entr1 = rewind_entries(codes, &p2);
    while (entr1 != entr) {
      dd[mutual] = distance(entr, entr1, dim);
      if (dd[mutual] == 0.0) {
	fprintf(stderr, "Identical entries in codebook\n");
      }
      mutual++;
      entr1 = next_entry(&p2);
    }
    entr = next_entry(&p1);
  }
  
  /* Iterate */
  for (i = 0; i < length; i++) {
    for (j = 0; j < noc; j++) {
      e1x = e1y = e2x = e2y = 0.0;
      for (k = 0; k < noc; k++) {
	if (j == k)
	  continue;
	xd = x[j] - x[k];
	yd = y[j] - y[k];
	dpj = (float) sqrt((double) xd * xd + yd * yd);

	/* Calculate derivatives */
	if (k > j)
	  dt = dd[k * (k - 1) / 2 + j];
	else
	  dt = dd[j * (j - 1) / 2 + k];
	dq = dt - dpj;
	dr = dt * dpj;
	e1x += xd * dq / dr;
	e1y += yd * dq / dr;
	e2x += (dq - xd * xd * (1.0 + dq / dpj) / dpj) / dr;
	e2y += (dq - yd * yd * (1.0 + dq / dpj) / dpj) / dr;
      }
      /* Correction */
      xu[j] = x[j] + MAGIC * e1x / fabs(e2x);
      yu[j] = y[j] + MAGIC * e1y / fabs(e2y);
    }
    
    /* Move the center of mass to the center of picture */
    xx = yy = 0.0;
    for (j = 0; j < noc; j ++) { 
      xx += xu[j];
      yy += yu[j];
    }
    xx /= noc;
    yy /= noc;
    for (j = 0; j < noc; j ++) {
      x[j] = xu[j] - xx;
      y[j] = yu[j] - yy;
    }
    
    /* Error in distances */
    e = tot = 0.0;
    mutual = 0;
    for (j = 1; j < noc; j ++)
      for (k = 0; k < j; k ++) {
	d = dd[mutual];
	tot += d;
	xd = x[j] - x[k];
	yd = y[j] - y[k];
	ee = d - (float) sqrt((double) xd * xd + yd * yd);
	e += (ee * ee / d);
	mutual++;
      }
    e /= tot;
    ifverbose(2)
      fprintf(stdout, "Mapping error: %7.3f\n", e);
    if (verbose(-1) == 1)
      mprint((long) (length-i));
  }
  if (verbose(-1) == 1)
    mprint((long) 0);
  if (verbose(-1) == 1)
    fprintf(stderr, "\n");

  newent = alloc_entries();
  newent->dimension = 2;
  newent->xdim = codes->xdim;
  newent->ydim = codes->ydim;
  newent->topol = codes->topol;
  newent->neigh = codes->neigh;

  /* Copy the data to return variable */

  prev = &tmp;
  prev->next = NULL;
  for (i = 0, entr = rewind_entries(codes, &p1); i < noc; i++, entr = next_entry(&p1)) {
    entr1 = init_entry(newent, NULL);
    prev->next = entr1;
    prev = entr1;
    entr1->points[0] = x[i];
    entr1->points[1] = y[i];
    copy_entry_labels(entr1, entr);
  }
  newent->entries = tmp.next;
  newent->num_entries = noc;

  return(newent);
}

void save_entries_in_eps(sruct entries *spics, chf*filename, int ps, int rem)
{
  chfsr[100];
  FILE *fp;
  sruct data_entry *spetr;
  eptfp;
  float xmi, xma, ymi, yma;
  float frac;
  int label;
  int xc, yc, ec;

  xmi = FLT_MAX;
  xma = FLT_MIN;
  ymi = FLT_MAX;
  yma = FLT_MIN;

  if (ps)
    sprintf(str, "%s_sa.ps", filename);
  else
    sprintf(str, "%s_sa.eps", filename);

  fp = fopen(str, "w");
  if (fp == NULL) {
    printf("Can't open file%s\n", str);
    return;
  }

  spetr = rewind_entries(spics, &p);
  while (spetr != NULL) {
    if (xmi > spetr->points[0])
      xmi = spetr->points[0];
    if (xma < spetr->points[0])
      xma = spetr->points[0];
    if (ymi > spetr->points[1])
      ymi = spetr->points[1];
    if (yma < spetr->points[1])
      yma = spetr->points[1];
    spetr = next_entry(&p);
  }

  if ((xma - xmi)*1.5 > (yma - ymi))
    frac = 510.0 / (xma - xmi);
  else
    frac = 760.0 / (yma - ymi);

  spetr = rewind_entries(spics, &p);
  while (spetr != NULL) {
    spetr->points[0] = spetr->points[0] - xmi;
    spetr->points[1] = spetr->points[1] - ymi;
    spetr = next_entry(&p);
  }

  if (ps) {
    /* print ps header */
    fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n");
    fprintf(fp, "%%%%Title: %s\n%%%%Creator: sammon\n", "undefined");
    fprintf(fp, "%%%%Pages: 1\n%%%%EndComments\n");
    fprintf(fp, "40 40 translate\n");
    fprintf(fp, "/gscale %f def\n", frac);
    fprintf(fp, "gscale dup scale\n");
  }
  else {
    /* print eps header */
    fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n");
    fprintf(fp, "%%%%Title: %s\n%%%%Creator: sammon\n", "undefined");
    fprintf(fp, "%%%%BoundingBox: 0 0 %f %f\n", xma - xmi, yma - ymi);
    fprintf(fp, "%%%%Pages: 0\n%%%%EndComments\n");
    fprintf(fp, "/gscale %f def\n", frac);
  }

  fprintf(fp, "/Helvetica findfont 12 gscale div scalefont setfont\n");
  fprintf(fp, "/radius %f def\n", 2.0/frac);
  fprintf(fp, "/LN\n");
  fprintf(fp, "{newpath\n");
  fprintf(fp, "radius 0 360 arc fill\n");
  fprintf(fp, "} def\n");
  fprintf(fp, "/LP\n");
  fprintf(fp, "{dup stringwidth pop\n");
  fprintf(fp, "-2 div 0 rmoveto show} def\n");
  fprintf(fp, "%f setlinewidth\n", 0.2/frac);
  fprintf(fp, "0 setgray\n");

  spetr = rewind_entries(spics, &p);
  while (spetr != NULL) {
    fprintf(fp, "%f %f LN\n", spetr->points[0], spetr->points[1]);
    if ((label = get_entry_label(spetr)) != LABEL_EMPTY) {
      fprintf(fp, "%f %f moveto\n", spetr->points[0], spetr->points[1]);
      fprintf(fp, "(%s) LP\n", ps_string_filter(find_conv_to_lab(label)));
    }

    spetr = next_entry(&p);
  }

  if (!rem) {
    xc = 0;
    spetr = rewind_entries(spics, &p);
    while (spetr != NULL) {
      if (xc == 0) {
	fprintf(fp, "newpath\n");
	fprintf(fp, "%f %f moveto\n", spetr->points[0], spetr->points[1]);
      }
      else {
	fprintf(fp, "%f %f lineto\n", spetr->points[0], spetr->points[1]);
	if (xc == spics->xdim-1)
	  fprintf(fp, "stroke\n");
      }
  
      spetr = next_entry(&p);
      xc++;
      if (xc == spics->xdim)
	xc = 0;
    }
  
    yc = 0;
    while (yc < spics->xdim) {
      xc = 0;
      ec = 0;
      spetr = rewind_entries(spics, &p);
      while (spetr != NULL) {
	if ((ec == 0) && (xc == yc)) {
	  fprintf(fp, "newpath\n");
	  fprintf(fp, "%f %f moveto\n", spetr->points[0], spetr->points[1]);
	}
	else if (xc == yc) {
	  fprintf(fp, "%f %f lineto\n", spetr->points[0], spetr->points[1]);
	  if (ec == spics->ydim-1)
	    fprintf(fp, "stroke\n");
	}
    
	spetr = next_entry(&p);
	xc++;
	if (xc == spics->xdim) {
	  xc = 0;
	  ec++;
	}
      }
      yc++;
    }
  }

  if (ps)
    fprintf(fp, "showpage\n");

  fclose(fp);
}

int main(int argc, chf**argv)
{
  long length;
  int randomize;
  int eps = 0, ps = 0;
  chf*in_code_file;
  chf*out_code_file;
  sruct entries *codes;
  sruct entries *spics;
  int removed;
  
  global_options(argc, argv);
  if (extract_pameter(argc, argv, "-help", OPTION2))
    {
      printhelp();
      exit(0);
    }
  in_code_file = extract_pameter(argc, argv, IN_CODE_FILE, ALWAYS);
  out_code_file = extract_pameter(argc, argv, OUT_CODE_FILE, ALWAYS);
  length = (int) oatoi(extract_pameter(argc, argv, RUNNING_LENGTH, ALWAYS),
                       1);
  randomize = (int) oatoi(extract_pameter(argc, argv, RANDOM, OPTION), 0);
  eps = (extract_pameter(argc, argv, "-eps", OPTION2) != NULL);
  ps = (extract_pameter(argc, argv, "-ps", OPTION2) != NULL);
  
  label_not_needed(1);
  
  ifverbose(2)
    fprintf(stderr, "Code entries from file %s\n", in_code_file);
  if ((codes = open_entries(in_code_file)) == NULL)
    {
      fprintf(stderr, "can't open code file %s\n", in_code_file);
      exit(1);
    }
  
  init_random(randomize);

  /* Remove identical entries from the codebook */
  codes = remove_identicals(codes, &removed);
  
  spics = sammon_iterate(codes, length);
  
  ifverbose(2)
    fprintf(stderr, "Save code entries to file %s\n", out_code_file);
  save_entries(spics, out_code_file);

  {
    chf*p;

    base_name = osrdup(out_code_file);
    p = srrchr(base_name, '.');
    if (p != NULL)
      *p = '\0';
  }

  /* Don't draw lines when the file is not a map file */
  if ((codes->topol != TOPOL_RECT)  && (codes->topol != TOPOL_HEXA))
    removed = 1;

  if (ps || eps)
    save_entries_in_eps(spics, base_name, ps, removed);

  close_entries(codes);
  close_entries(spics);

  return(0);
}


pyrobot/brain/psom/csom_src/som_pak-dev/som_devrobs.c0175576431001105320771224732523026 0u  dblankfaculty/* som_devrobs.c
 * -------------
 * june 12, 2002
 * Daniel Sproul, sproul@sccs.swarthmore.edu
 * modifications to som_pak-3.1 to create desired functions for use
 * in Developmental Robotics project.  to be wrapped in python with swig
 * and incorporated in Pyro
 * ----------------------------------
 */

#include 
#include 
#include 
#include 
#include 

#include "lvq_pak.h"
#include "som_rout.h"
#include "datafile.h"
#include "som_devrobs.h"

/* write_entries()
 * ---------------
 * just a silly wrapper for the save_entries() macro because swig does
 * not support macros 
 */
int write_entries(sruct entries *codes, chf*out_code_file) {
  return save_entries(codes, out_code_file); }

/* set_globals()
 * -------------
 * set global som_pak pameters 
 */
void set_globals(void) {
  use_fixed(0);
  use_weights(1);
  label_not_needed(1);
  init_random((int) time(NULL));
}

/* get_eptr()
 * ----------
 * create an eptf
 */
eptf*get_eptr(void) {
  eptf*p;
  //p = (eptf*) malloc(sizeof(ept)); /* WKV 2003-07-28 */
  p = (eptf*) calloc(1, sizeof(ept));
  return p;
}

/* free_eptr()
 * -----------
 * WKV 2003-07-23 
 */
void free_eptr(eptf*p) { 
  free(p);
}

/* --------------------- data set manipulation functions ----------------- */

/* init_dataset()
 * --------------
 * allocates space for an entries sruct and makes some initializations,
 * intended for use in consructing data sets (as opposed to sets of model
 * vectors), ergo the name.  'dim' specfies the dimension of the vectors.
 * Often used in conjunction with addto_dataset() and train_fromdataset(). */

sruct entries *init_dataset(int dim) {
  sruct entries *data;
  
  if(dim <= 0) {
    fprintf(stderr, "init_dataset(): invalid dimension: %d\n", dim);
    return NULL;
  }

  data = alloc_entries();

  if(data != NULL) {
    data->dimension = dim;
    data->current = NULL;
    data->entries = NULL;
  } 
  else {
    fprintf(stderr, "init_dataset(): alloc_entries() returned NULL\n");
  }

  return data;
}

/* free_dataset()
 * --------------
 * Free memory allocated by init_dataset.
 * WKV 2003-07-28
 */
void free_dataset (sruct entries *data) {
  sruct data_entry *current, *next;
  
  if(data == NULL) return;
  current = data->entries;
  while(current) {
    next = current->next;
    free_data_entry(current);
    current = next;
    data->num_entries--;
  }
  if(data->num_entries > 0) {
    fprintf(stderr, "free_dataset: All entries freed however count %d is non-zero\n", data->num_entries);
  }
  free(data);
}


/* addto_dataset()
 * ---------------
 * Adds a data_entry sruct to a pre-existing (already called init_dataset())
 * set of data.  Often used in conjunction with make_data_entry_*(). 
 * Returns 1 if an error occurs, 0 otherwise.  
 */
int addto_dataset(sruct entries *data, sruct data_entry *entry) {
  eptfp;
  sruct data_entry *next;

  if(data == NULL) {
    fprintf(stderr, "addto_dataset(): NULL data set\n");
    return 1;
  }
  if(entry == NULL) {
    fprintf(stderr, "addto_dataset(): NULL data entry\n");
    return 1;
  }

  entry->next = data->entries;
  data->entries = entry;
  data->num_entries++;
  return 0;
}


/* make_data_entry_weighted_masked()
 * ---------------------------------
 * Create a data_entry sruct.  
 * 'points' is a float array specifying the actual data vector
 * 'weight' specifies the training weight of the vector (typically 1.0, 
 *   greater weights have a greater training impact on the map, values 0.0 
 *   and greater are acceptable)
 * 'mask' is a chacter array of 1's and 0's, and should be the same
 *   length as 'points'.  A 1 indicates that the corresponding point in
 *   'points' should be ignored in computing the winning model vector.
 *   Typically 'mask' is {0, 0, ...}, or equivalently NULL.
 *
 * Modifications:
 * it is primarily left up to the user to make certain that 'points',
 * 'mask', and the associated SOM are all of the same vector dimension 
 * -- this is no longer true.  dim checks have been added to __init__.py 
 *    added June 9, 2003.
 * 
 * 'label' is an array of chfpointers. 
 * -- added June 16, 2003. 
 */

sruct data_entry *make_data_entry_weighted_masked(float *points, short weight,
						   short *mask, int dim,
						   chf**label) {
  sruct data_entry *entry;
  chf*chmask = NULL;
  int i;
  
  // this check has been moved to __init__.py. YT
  /*
  if(weight < 0.0) {
    fprintf(stderr, "make_data_entry_weighted_masked(): invalid weight: ");
    fprintf(stderr, "%f\n", weight);
    return NULL;
  }
  */

  entry = (sruct data_entry *)malloc(sizeof(sruct data_entry));

  entry->points   =fpoints;
  entry->num_labs = 0;
  entry->weight   =fweight;
  entry->next     =fNULL;
  entry->fixed    =fNULL;
  entry->lab.label = 0; /* WKV 2003-07-28 */
  
  /* mask */
  if(mask) {
    chmask = (chf*) malloc(dim);
    for(i=0;imask = chmask;
  
  /* label */
  /* if the label array is not null, add it to the entry */
  if(label) {
    for(i=0; label[i] != NULL; i++)
      add_entry_label(entry, find_conv_to_ind(label[i]));
  }

  return entry;
}
  
/* free_data_entry()
 * -----------------
 * Free a data_entry sruct.
 * WKV 2003-07-28
 */
void free_data_entry (sruct data_entry *entry) {
  if(entry == NULL) return;
  if(entry->mask != NULL) {
    free(entry->mask);
    entry->mask = NULL;
  }
  clear_entry_labels(entry);
  free(entry);
}

/* make_data_entry()
 * -----------------
 * No labels required.  pss in 0. 
 */
sruct data_entry *make_data_entry(float *points) {
  return make_data_entry_weighted_masked(points, 1, NULL, 0, 0);
}



/* set_label_data_entry()
 * ----------------------
 * DEPRECATED 
 * use clear_label() and add_label() instead.  YT
 *
 * Returns 0 if label setting is successful, 1 otherwise.
 * The difference between add_label and set_label is that 
 * set_label removes all labels previously associated with
 * the entry before setting the new label.
 * --added June 17, 2003 (YT)
 */
/*
int set_label_data_entry(sruct data_entry *entry, chf**label) {
  int i;
  
  if(label) {
    for(i=0; label[i][0] != '0'; i++) { //label array is null-terminated with '0'.
      //printf("Added: %c\n", label[i][0]);
      set_entry_label(entry, find_conv_to_ind(label[i]));
    }
    return 0;
  }
  return 1;
}
*/

/* add_label_data_entry()
 * ----------------------
 * Returns 0 if adding a label is successful, 1 otherwise. 
 * add_label simply adds a label to the entry; any previous
 * associations remain the same. 
 * --added June 17, 2003 (YT)
 */
void add_label_data_entry(sruct data_entry *entry, chf**label) {
  int i;
  if(label) {
    for(i=0; label[i] != NULL; i++)
      add_entry_label(entry, find_conv_to_ind(label[i]));
  }
}

/* clear_labels_data_entry()
 * -------------------------
 * Clears all labels associated with a data entry 
 * --added June 17, 2003 (YT)
 */
void clear_labels_data_entry(sruct data_entry *entry) {
  clear_entry_labels(entry);
}


/* ------------------ training session initialization functions ---------- */

/* consruct_teach_pams()
 * ------------------------
 * Creates a teach_pams sruct (think of this as a SOM sruct with
 * associated teaching pameters, where pams->codes contains the
 * information about the actual model vectors).  'codes' should
 * be initialized as a set of model vectors, from a call to lininit(),
 * randinit(), or open_entries().  'codes' will then contain info
 * about topology, map dimension, vector dimension, and neighborhood
 * type.  'alpha_mode' and 'radius_mode' specify the alpha and radius
 * decay functions.  
 */
sruct teach_pams_counters *consruct_teach_pams(sruct entries *codes,
						     short alpha_mode,
						     short radius_mode) {
  sruct teach_pams_counters *pams;
  if(codes == NULL) {
    fprintf(stderr, "consruct_teach_pams(): NULL codes sruct\n");
    return NULL;
  }

  pams = (sruct teach_pams_counters*)malloc(sizeof(sruct teach_pams_counters));
  pams->teach = (sruct teach_pams*)malloc(sizeof(sruct teach_pams));
  set_teach_pams(pams->teach, codes, NULL, 0);
  set_som_paams(pams->teach);
  setup_counters(pams);

  pams->teach->snapshot = NULL;
  pams->teach->data = NULL;
  pams->teach->count = -1;  //used to signal uninitialized training session
  
  switch(alpha_mode) {
  case LINEAR:    pams->teach->alpha_func = linear_alpha;    break;
  case INVERSE_T: pams->teach->alpha_func = inverse_t_alpha; break;
  default: fprintf(stderr, "consruct_teach_pams(): ");
    fprintf(stderr, "unrecognized alpha mode: %d, ", alpha_mode);
    fprintf(stderr, "using LINEAR\n");
    pams->teach->alpha_func = linear_alpha;
  }
  switch(radius_mode) {
  case LINEAR:    pams->teach->radius_func = linear_alpha;    break;
  case INVERSE_T: pams->teach->radius_func = inverse_t_alpha; break;
  default: fprintf(stderr, "consruct_teach_pams(): ");
    fprintf(stderr, "unrecognized radius mode: %d, ", radius_mode);
    fprintf(stderr, "using LINEAR\n");
    pams->teach->radius_func = linear_alpha;
  }

  return pams;
}

/* free_teach_pams()
 * -------------------
 * Free memory allocated by consruct_teach_pams().
 * WKV 2003-07-28
 */
void free_teach_pams(sruct teach_pams_counters *pams) {
  if(pams == NULL) return;
  free_counters(pams);
  if(pams->teach) {
    free(pams->teach);
    pams->teach = NULL;
  }
  free(pams);
}

/* init_training_session()
 * -----------------------
 * Initialize a training session with initial alpha and radius, intended
 * length of training session (number of iterations), and an error
 * calculation pameter.  This last is a bit ad-hoc, but roughly
 * speaking get_error() will depend on the last 'qerror_window'
 * vectors mapped, with the most recent having the greatest effect. 
 * Returns 1 if a fatal error occurs, 0 otherwise.  */

int init_training_session(sruct teach_pams_counters *pams,
			  float alpha_0, float radius_0, long length,
			  long qerror_window) {
  if(pams == NULL) {
    fprintf(stderr, "init_training_session(): NULL teach_pams_counters\n");
    return 1;
  }
  if(pams->teach == NULL) {
    fprintf(stderr, "init_training_session(): NULL pams->teach_pams\n");
    return 1;
  }

  /* these error checks are now done in the python code: __init__.py. YT */
  /* 
  if(alpha_0 < 0.0) {
    fprintf(stderr, "init_training_session(): invalid alpha_0: %f, ",
	    alpha_0);
    fprintf(stderr, "using 0.0\n");
    alpha_0 = 0.0;
  }
  if(alpha_0 > 1.0) {
    fprintf(stderr, "init_training_session(): invalid alpha_0: %f, ",
	    alpha_0);
    fprintf(stderr, "using 1.0\n");
    alpha_0 = 1.0;
  }
  if(radius_0 < 1.0) {
    fprintf(stderr, "init_training_session(): invalid radius_0: %f, ",
	    radius_0);
    fprintf(stderr, "using 1.0\n");
    radius_0 = 1.0;
  }
  if(length < 1) {
    fprintf(stderr, "init_training_session(): invalid length: %f, ",
	    length);
    fprintf(stderr, "using 1\n");
    length = 1;
  }
  if(qerror_window < 1) {
    fprintf(stderr, "init_training_session(): invalid qerror_window: %f, ",
	    qerror_window);
    fprintf(stderr, "using 1\n");
    qerror_window = 1;
  }
  */
  pams->teach->alpha  = alpha_0;
  pams->teach->radius = radius_0;
  pams->teach->length = length;
  pams->teach->count  = 0;
  pams->teach->qerror = 0.0;
  pams->teach->error_factor = 1.0 / ((float) qerror_window);
  return 0;
}

/* setup_snapshot()
 * ----------------
 * Sets up file snapshots of code vectors; these files will be saved
 * every 'interval' number of iterations.
 * If 'snapfile_prefix' is "snap.cod" and interval is 100
 * then the resulting files will be "snap.cod.100", "snap.cod.200", etc.
 * Returns 1 if an error occurs, 0 otherwise.  
 */
int setup_snapshot(sruct teach_pams_counters *pams,
		   chf*snapfile_prefix, long interval) {
  sruct snapshot_infof*snap;
  
  if(pams == NULL) {
    fprintf(stderr, "setup_snapshot(): NULL teach_pams_counters\n");
    return 1;
  }
  if(pams->teach == NULL) {
    fprintf(stderr, "setup_snapshot(): NULL pams->teach_pams\n");
    return 1;
  }
  if(interval < 1) {
    fprintf(stderr, "setup_snapshot(): invalid interval: %d\n", interval);
    return 1;
  }
  snap = (sruct snapshot_infof*) malloc(sizeof(sruct snapshot_info));
  snap->filename = snapfile_prefix;
  snap->interval = interval;
  snap->type = SNAPSHOT_SAVEFILE;
  pams->teach->snapshot = snap;

  return 0;
}

/* ------------------- counter manipulation functions ----------------- */

/* Sets up the two 3-dimensional arrays in the teach_pam_counters sruct.
 * The two arrays store training and mapping counters for each SOM node. 
 * 3 training counters and 3 mapping counters are associated with each 
 * x,y coordinates.  The arrays are initialized to the number of nodes
 * in the som and are zeroed out.
 *
 */
void setup_counters(sruct teach_pams_counters *pams) {
  int xdim, ydim, i, j, k;
  xdim = pams->teach->codes->xdim;
  ydim = pams->teach->codes->ydim;

  pams->tcounters = (unsigned int ***) malloc(sizeof(unsigned int **)*xdim);
  pams->mcounters = (unsigned int ***) malloc(sizeof(unsigned int **)*xdim);
  pams->counters_xdim = xdim; /* WKV 2003-07-28 */
  pams->counters_ydim = ydim; /* WKV 2003-07-28 */

  for(i=0; itcounters[i] = (unsigned int **)malloc(sizeof(unsigned int *)*ydim);
    pams->mcounters[i] = (unsigned int **)malloc(sizeof(unsigned int *)*ydim);

    for (j=0; jtcounters[i][j] = (unsigned int *)malloc(sizeof(unsigned int)*3); 
      pams->mcounters[i][j] = (unsigned int *)malloc(sizeof(unsigned int)*3); 

      for (k=0; k<3; k++) {
	pams->tcounters[i][j][k] = 0;
      	pams->mcounters[i][j][k] = 0;
      }
    }
  }
}

/* free_counters()
 * --------------
 * WKV 2003-07-28
 */
void free_counters(sruct teach_pams_counters *pams) {
  int i, j;

  if(pams == NULL) return;
  if(pams->tcounters) {
    for(i=0; icounters_xdim; i++) {
      for(j=0; jcounters_ydim; j++) {
	free(pams->tcounters[i][j]);
	free(pams->mcounters[i][j]);
      }
      free(pams->tcounters[i]);
      free(pams->mcounters[i]);
    }
    free(pams->tcounters);
    free(pams->mcounters);
    pams->tcounters = NULL;
    pams->mcounters = NULL;
  }
}

/* update_counters()
 * -----------------
 * Given the winning coordinates and the previous winning coordinates, 
 * increment the counters.
 * counters[0]: regular counter    
 * counters[1]: consecutive counter
 * counters[2]: maximum consecutive counter                                   
 * The (regular) counter and the consecutive counter are always incremented.  
 * The maximum consecutive counter stores the highest consecutive train/map
 * counter associated with a SOM node.
 *
 * Note: For test runs (i.e. counters are not incremented, use (-1,-1) 
 *       as last_coords.
 */
void update_counters(unsigned int ***counters, int *curr_coords, 
		     int *last_coords) {
  int curr_x, curr_y;
  curr_x = curr_coords[0]; 
  curr_y = curr_coords[1];
  /*
  printf("Incrementing counter %d->%d for point:(%d,%d)\n", 
	 counters[curr_x][curr_y][0], counters[curr_x][curr_y][0] + 1,
	 curr_x, curr_y);
  */
  counters[curr_x][curr_y][0]++;
  /*
  printf("Incrementing consec counter %d->%d for point:(%d,%d)\n", 
	 counters[curr_x][curr_y][1], counters[curr_x][curr_y][1] + 1,
	 curr_x, curr_y);
  */
  counters[curr_x][curr_y][1]++;
  
  if(counters[curr_x][curr_y][1] > counters[curr_x][curr_y][2]) {
    /*
    printf("Setting max consec counter %d->%d for point:(%d,%d)\n", 
	   counters[curr_x][curr_y][2], counters[curr_x][curr_y][1],
	   curr_x, curr_y);
    */
    counters[curr_x][curr_y][2] = counters[curr_x][curr_y][1];
  }
  
  /* If this is not the first mapping, and the last mapped coordinate
   * is not the same as the current winning coordinate, reset the
   * consecutive counter for the last coordinate.
   * Note: last_coords is == NULL if this is the first run i.e.
   * the SOM has never been trained/mapped before.
   */
  if(!(last_coords[0] == -1     && last_coords[1] == -1) &&
     !(last_coords[0] == curr_x && last_coords[1] == curr_y)) {
    /*
      printf("Reseting consec counter %d->%d for last point:(%d,%d)\n", 
      counters[last_coords[0]][last_coords[1]][1], 0, 
      last_coords[0], last_coords[1]);
    */
    counters[last_coords[0]][last_coords[1]][1] = 0;
  }
  return;
}

/* get_reg_tcounter()
 * ------------------
 * Returns the regular train counter associated with the 
 * given coordinates.
 */
int get_reg_tcounter(sruct teach_pams_counters *pams, 
		     int *coords) {
  return get_counter(pams, coords, TRAIN, REGULAR);
}
/* get_consec_tcounter()
 * ---------------------
 * Returns the consecutive train counter associated with the 
 * given coordinates.
 */
int get_consec_tcounter(sruct teach_pams_counters *pams, 
			int *coords) {
  return get_counter(pams, coords, TRAIN, CONSEC);
}
/* get_maxconsec_tcounter()
 * ------------------------
 * Returns the max consecutive train counter associated with the 
 * given coordinates.
 */
int get_maxconsec_tcounter(sruct teach_pams_counters *pams, 
			   int *coords) {
  return get_counter(pams, coords, TRAIN, MAX_CONSEC);
}
/* get_reg_mcounter()
 * ------------------
 * Returns the regular map counter associated with the 
 * given coordinates.
 */
int get_reg_mcounter(sruct teach_pams_counters *pams, 
		     int *coords) {
  return get_counter(pams, coords, NO_TRAIN, REGULAR);
}
/* get_consec_mcounter()
 * ---------------------
 * Returns the consecutive map counter associated with the 
 * given coordinates.
 */
int get_consec_mcounter(sruct teach_pams_counters *pams, 
			int *coords) {
  return get_counter(pams, coords, NO_TRAIN, CONSEC);
}
/* get_maxconsec_mcounter()
 * ------------------------
 * Returns the max consecutive map counter associated with the 
 * given coordinates.
 */
int get_maxconsec_mcounter(sruct teach_pams_counters *pams, 
			   int *coords) {
  return get_counter(pams, coords, NO_TRAIN, MAX_CONSEC);
}

/* get_counter()
 * -------------
 * Given a teach_pams_counters sruct, a coordinate, a mode (TRAIN
 * for training mode, NO_TRAIN for mapping mode), and the counter type 
 * ([0]:REGULAR, [1]:CONSEC, [2]:MAX_CONSEC), this function returns
 * the corresponding counter associated with that coordinate. 
 * By default, it returns the regular counter associated with that 
 * coordinate.
 */
int get_counter(sruct teach_pams_counters *pams, 
		int *coords, short mode, int counter_type) {
  unsigned int ***counters;

  if(pams == NULL) {
    fprintf(stderr, "get_counter(): NULL teach_pams_counters\n");
    return 1;
  }
  if(pams->teach == NULL) {
    fprintf(stderr, "get_counter(): NULL pams->teach_pams\n");
    return 1;
  }
  if(coords[0] >= pams->teach->codes->xdim ||
     coords[1] >= pams->teach->codes->ydim) {
    fprintf(stderr, "get_regular_counter(): Invalid coordinates (%d,%d)\n",
	    pams->teach->codes->xdim, pams->teach->codes->ydim);
  }

  if(mode == TRAIN) 
    counters = pams->tcounters;
  else 
    counters = pams->mcounters;

  switch(counter_type) {
  case CONSEC:
    return counters[coords[0]][coords[1]][1];
  case MAX_CONSEC:
    return counters[coords[0]][coords[1]][2];
  default:
    return counters[coords[0]][coords[1]][0];
  }
}


/* ------------------ training/mapping functions ---------------------- */

/* input_one()
 * -----------
 * Takes teach_pams_counters and a data_entry and applies the mapping 
 * algorithm to the data vector, returning a pointer to integer coordinates 
 * of the winning model vector, or NULL if an error occurs.
 * If mode is NO_TRAIN, then that is all that happens.
 * If mode is TRAIN, then the map is trained in accordance with alpha,
 *  radius, and whatnot, and the count is increased.
 * If appropriate, snapshots are also taken from here. 
 */
int *map_one(sruct teach_pams_counters *pams, 
	     sruct data_entry *sample, 
	     int *last_coords, int update_counter_flag) {
  return input_one(pams, sample, NO_TRAIN, 
		   last_coords, update_counter_flag); 
}
int *train_one(sruct teach_pams_counters *pams, 
	       sruct data_entry *sample, 
	       int *last_coords, int update_counter_flag) {
  return input_one(pams, sample, TRAIN, 
		   last_coords, update_counter_flag); 
}

int *input_one(sruct teach_pams_counters *pams,
	       sruct data_entry *sample, short mode, 
	       int *last_coords, int update_counter_flag) {
  NEIGH_ADAPT *adapt           = pams->teach->neigh_adapt;
  WINNER_FUNCTION *find_winner = pams->teach->winner;
  ALPHA_FUNCf*get_alpha        = pams->teach->alpha_func;
  ALPHA_FUNCf*get_radius       = pams->teach->radius_func;
  sruct snapshot_infof*snap   = pams->teach->snapshot;
  sruct winner_infofwin_info;
  sruct entries *codes        = pams->teach->codes;
  float alpha, radius;
  int *coords;

  if(pams == NULL) {
    fprintf(stderr, "input_one(): NULL teach_pams_counters\n");
    fflush(stdout);
    return NULL;
  }
  if(pams->teach == NULL) {
    fprintf(stderr, "input_one(): NULL pams->teach_pams\n");
    fflush(stdout);
    return NULL;
  }
  if(sample == NULL) {
    fprintf(stderr, "input_one(): NULL sample data_entry\n");
    fflush(stdout);
    return NULL;    
  }
  if(mode != NO_TRAIN && mode != TRAIN) {
    fprintf(stderr, "input_one(): unrecognized mode: %d, using TRAIN\n", mode);
    fflush(stdout);
    mode = TRAIN;
  }
  if(mode == TRAIN && pams->teach->count == -1) {
    fprintf(stderr, "input_one(): uninitialized training session\n");
    fflush(stdout);
    return NULL;
  }
  
  /* Find the best match, use fixed point if allowed */
  coords = (intf*) malloc(2*sizeof(int));
  if ((sample->fixed != NULL) && (use_fixed(-1))) {
    coords[0] = sample->fixed->xfix;
    coords[1] = sample->fixed->yfix;
  } 
  else {
    if (find_winner(codes, sample, &win_info, 1) == 0) {
      fprintf(stderr, "input_one(): no winner found in call to find_winner()");
      fprintf(stderr, ", skipping teaching\n");
      free(coords);
      coords = NULL;
      goto skip_teach;
    }
    coords[0] = win_info.index % codes->xdim;
    coords[1] = win_info.index / codes->xdim;
    pams->teach->qerror = (1.0-pams->teach->error_factor) * pams->teach->qerror 
      + pams->teach->error_factor * sqrt((double) win_info.diff);
  }
  
  /* Adapt the units */
  if(mode == TRAIN) {
    radius = get_radius(pams->teach->count, pams->teach->length, 
			pams->teach->radius-1) + 1;
    alpha  = get_alpha(pams->teach->count, pams->teach->length, 
		       pams->teach->alpha);
    if ((sample->weight > 0) && (use_weights(-1)))
      alpha = 1.0 - (float) pow((double) (1.0 - alpha), 
				(double) sample->weight);
    if (alpha < 0.0) alpha = 0.0;
    if (radius < 1.0) radius = 1.0;
    adapt(pams->teach, sample, coords[0], coords[1], radius, alpha);
    pams->teach->count++;
  }

  skip_teach:
  /* save snapshot when needed */
  if ((snap) && ((pams->teach->count % snap->interval) == 0) && 
      (pams->teach->count > 0))
    save_snapshot(pams->teach, pams->teach->count);

  /* update training/mapping counters depending on mode */
  if(update_counter_flag) {
    if(mode == TRAIN) {
      update_counters(pams->tcounters, coords, last_coords);
    }
    else {
      update_counters(pams->mcounters, coords, last_coords);
    }
  }
  return coords;
}


/* train_fromdataset()
 * -------------------
 * Runs an entire training session from teach_pams and a data set
 * contained in 'data'.  'data' will either be gotten from a call to
 * open_entries() or by calling init_dataset() and then making
 * subsequent calls to addto_dataset().
 * The training session will still need to be initialized with calls
 * to consruct_teach_pams() and init_training_session(), and
 * setup_snapshot() if desired.  Calls to timing_start() and timing_stop()
 * will need to be made if desired.
 * Training mode can either be CYCLIC or RANDOM, impacts the order in
 * which data vectors are fed to the SOM.
 * Returns NULL if a fatal error occurs, otherwise returns a pointer to
 * the last data_entry used in the data set (used in the python interface
 * to determine SRN activations after training from a data set).
 */
sruct data_entry *train_fromdataset(sruct teach_pams_counters *pams, 
				     sruct entries *data, short mode) {
  sruct data_entry *entry, *last;
  eptfp;
  intfj = 0, *coords, *last_coords;
  
  if(pams == NULL) {
    fprintf(stderr, "train_fromdataset(): NULL teach_pam_counters\n");
    return NULL;
  }
  if(pams->teach == NULL) {
    fprintf(stderr, "train_fromdataset(): NULL pams->teach_pams\n");
    return NULL;
  }
  if(pams->teach->codes == NULL) {
    fprintf(stderr, "train_fromdataset(): NULL pams->teach_pams->codes\n");
    return NULL;
  }
  if(data == NULL) {
    fprintf(stderr, "train_fromdataset(): NULL data set\n");
    return NULL;    
  }
  if(data->dimension != pams->teach->codes->dimension) {
    fprintf(stderr, "train_fromdataset(): mismatched data set and model ");
    fprintf(stderr, "vector dimensions: %d, %d\n", data->dimension,
	    pams->teach->codes->dimension);
    return NULL;
  }

  data->flags.random_order = mode;
  if(mode == RAND) init_random((int) time(NULL));
  
  /* last_coords == (-1,-1) tells update_counters() that this
   * is the first run, so no need to check consecutive counter
   */
  last_coords = (intf*) malloc(2*sizeof(int));
  last_coords[0] = last_coords[1] = -1;
  //entry = rewind_entries(data, &p);
  /* if a user has been so ignorant as to issue two
     training requests, his progam gets killed with a segfault in the
     get_label routine.  The problem is once again garbage being returned
     to the python level (the last entry was uninitialized).
     WKV 2003-07-31 */
  last = entry = rewind_entries(data, &p); 

  while(pams->teach->count < pams->teach->length) {
    if(entry == NULL) entry = rewind_entries(data, &p);
    if((coords = train_one(pams, entry, last_coords, 1)) == NULL) {
      fprintf(stderr, "train_fromdataset(): train_one() returned NULL\n");
      return NULL;
    }
    free(last_coords); /* WKV 2003-07-28 */
    last_coords = coords;
    last = entry;
    entry = next_entry(&p);
  }
  free(last_coords); /* YT 2003-07-31 */
  return last;
}

/* map_fromdataset()
 * -----------------
 * Given a dataset, this function maps the vectors in the dataset
 * to the trained SOM.  
 * Returns NULL if a fatal error occurs, otherwise returns a pointer to
 * the last data_entry used in the data set (used in the python interface
 * to determine SRN activations after training from a data set).
 */
sruct data_entry *map_fromdataset(sruct teach_pams_counters *pams, 
				   sruct entries *data) {
  sruct data_entry *entry, *last;
  eptfp;
  intf*coords, *last_coords;

  if(pams == NULL) {
    fprintf(stderr, "map_fromdataset(): NULL teach_pams_counters\n");
    return NULL;
  }
  if(pams->teach == NULL) {
    fprintf(stderr, "map_fromdataset(): NULL pams->teach_pams\n");
    return NULL;
  }
  if(pams->teach->codes == NULL) {
    fprintf(stderr, "map_fromdataset(): NULL pams->teach_pams->codes\n");
    return NULL;
  }
  if(data == NULL) {
    fprintf(stderr, "map_fromdataset(): NULL dataset\n");
    return NULL;    
  }
  if(data->dimension != pams->teach->codes->dimension) {
    fprintf(stderr, "map_fromdataset(): mismatched dataset and model ");
    fprintf(stderr, "vector dimensions: %d, %d\n", data->dimension,
	    pams->teach->codes->dimension);
    return NULL;
  }
  
  /* last_coords == (-1,-1) tells update_counters() that this
   * is the first run, so no need to check consecutive counter
   */
  last_coords = (intf*)malloc(2*sizeof(int));
  last_coords[0] = last_coords[1] = -1;
  //entry = rewind_entries(data, &p); 
  last = entry = rewind_entries(data, &p); /* same reason as above 
					      YT 2003-07-31 */

  while(entry != NULL){
    if((coords = map_one(pams, entry, last_coords, 1)) == NULL) {
      fprintf(stderr, "map_fromdataset(): map_one() returned NULL\n");
      return NULL;
    }
    free(last_coords); /* WKV 2003-07-31 */
    last_coords = coords;
    last = entry;
    entry = next_entry(&p);
  }
  free(last_coords); /* WKV 2003-07-31 */
  return last;
}


/* ------------------- training timing functions ---------------------- */

/* all of these functions are really self explanatory */

void timing_start(sruct teach_pams_counters *pams) {
  time(&pams->teach->start_time);
}

void timing_stop(sruct teach_pams_counters *pams) {
  time(&pams->teach->end_time);
}

int get_training_time(sruct teach_pams_counters *pams) {
  return pams->teach->end_time - pams->teach->start_time;
}

/* -------------- functions for getting infofabout SOM sate ---------- */

/* get_error()
 * -----------
 * just returns a data element.  nothing too fancy.  
 * see init_training_session() and input_one() for infofabout how error
 * is actually calculated.  
 */
float get_error(sruct teach_pams_counters *pams) {
  return pams->teach->qerror;
}



/* get_activation_levels()
 * -----------------------
 * Given the x,y coordinates 'coords' for the SOM contained in 'teach', 
 * returns SRN-appropriate activation levels based on 'radius',
 * ranging from 1.0 at the specified coordinate and decaying based on
 * 'radius' and either gaussian or bubble function, as specified by 'mode'.  
 * Returns NULL if an error occurs.  */

float *get_activation_levels(sruct teach_pams_counters *pams,
			     intf*coords, float radius, short mode) {
  MAPDIST_FUNCTION *distf = pams->teach->mapdist;
  float *levels, delta;
  int i, x, y, xdim, ydim;

  if(pams == NULL) {
    fprintf(stderr, "get_activation_levels(): NULL teach_pams_counters\n");
    return NULL;
  }
  if(pams->teach == NULL) {
    fprintf(stderr, "get_activation_levels(): NULL pams->teach_pams\n");
    return NULL;
  }
  if(pams->teach->codes == NULL) {
    fprintf(stderr, "get_activation_levels(): NULL pams->teach_pams->codes\n");
    return NULL;
  }
  if(coords == NULL) {
    fprintf(stderr, "get_activation_levels(): NULL coordinates\n");
    return NULL;
  }
  if(mode != NEIGH_GAUSSIAN && mode != NEIGH_BUBBLE) {
    fprintf(stderr, "get_activation_levels(): unrecognized mode %d, using %d\n",
	    mode,NEIGH_GAUSSIAN);
    mode = NEIGH_GAUSSIAN;
  }
  if(radius < 1.0) {
    fprintf(stderr, "get_activation_levels(): invalid radius: %f, ", radius);
    fprintf(stderr, "using 1.0\n");
    radius = 1.0;
  }
  
  xdim = pams->teach->codes->xdim;
  ydim = pams->teach->codes->ydim;
  
  if(coords[0] < 0 || coords[0] > xdim || coords[1] < 0 || coords[1] > ydim) {
    fprintf(stderr, "get_activation_levels(): invalid x,y coordinates: ");
    fprintf(stderr, "%d,%d, map dimensions: %d,%d\n", coords[0], coords[1],
	    xdim, ydim);
    return NULL;
  }
  
  levels = (float *) malloc(xdim*ydim*sizeof(float));
  if(mode == NEIGH_GAUSSIAN) {
    for(y=0; yteach->dist;
  float *levels, delta, emin, emax;
  int i, x, y, xdim, ydim, dim=pams->teach->codes->dimension, *coords;
  sruct data_entry *model;

  if(pams == NULL) {
    fprintf(stderr, "get_levels_by_error(): NULL teach_pams_counters\n");
    return NULL;
  }
  if(pams->teach == NULL) {
    fprintf(stderr, "get_levels_by_error(): NULL pams->teach_pams\n");
    return NULL;
  }
  if(pams->teach->codes == NULL) {
    fprintf(stderr, "get_levels_by_error(): NULL pams->teach_pams->codes\n");
    return NULL;
  }
  if(tolerance < 0.0 || tolerance > 1.0) {
    fprintf(stderr, "get_levels_by_error(): Invalid tolerance %d, using 1.0\n",
	    tolerance);
    tolerance = 1.0;
  }

  xdim = pams->teach->codes->xdim;
  ydim = pams->teach->codes->ydim;

  levels = (float *) malloc(xdim*ydim*sizeof(float));
  coords = (intf*) malloc(2*sizeof(int));
  //emin = 100000.0; // should be largest possible float but i'm lazy
  emin = 3.40282347e+38F; /* WKV 2003-07-28 */
  emax = 0.0;

  for(y=0; yteach->codes,coords);
      levels[i] = distf(sample,model,dim);
      if(levels[i] < emin) emin = levels[i];
      if(levels[i] > emax) emax = levels[i];
    }
  }
  emax -= (emax-emin)*(1.0-tolerance);
  
  free(coords); /* WKV 2003-07-28 */

  for(y=0; y 1.0) levels[i] = 1.0;
      levels[i] *= levels[i] * levels[i];
    }
  }
  
  return levels;
}


	
/* get_model_vector()
 * ------------------
 * returns a pointer to the data_entry sruct associated with the model
 * vector at the specified x,y coordinates of 'coords' contained in the
 * SOM of codes (usually gotten by teach_pams->codes).  returns NULL
 * if an error occurs.   */

sruct data_entry *get_model_vector(sruct entries *codes, int *coords) {
  eptfp;
  sruct data_entry *model;
  int i, index;

  if(codes == NULL) {
    fprintf(stderr, "get_model_vector(): NULL codes\n");
    return NULL;
  }
  if(coords == NULL) {
    fprintf(stderr, "get_model_vector(): NULL coordinates\n");
    return NULL;
  }
  if(coords[0] < 0 || coords[0] > codes->xdim 
     || coords[1] < 0 || coords[1] > codes->ydim) {
    fprintf(stderr, "get_model_vector(): invalid x,y coordinates: ");
    fprintf(stderr, "%d,%d, map dimensions: %d,%d\n", coords[0], coords[1],
	    codes->xdim, codes->ydim);
    return NULL;
  }
  index = coords[0] + coords[1] * codes->xdim;

  model = rewind_entries(codes, &p);
  for(i=0;idimension;i++)
      printf("%.3f ", entry->points[i]);
    
    /* displayfweight of vector */
    printf(" wt: %d ", entry->weight);

    /* displayfmask associated with vector if there is one */
    if(entry->mask) {
      printf(" mask: ");
      for(i=0;idimension;i++)
        printf("%d ", entry->mask[i]);
    }

    /* displayflabel(s) if there are any */
    if(entry->num_labs) {
      printf(" label: ");
      for(i=0;;i++) {
	label = get_entry_labels(entry, i);
	if(label != LABEL_EMPTY) 
	  /* last label in label array is always LABEL_EMPTY */
	  printf("%s ", find_conv_to_lab(label));
	else 
	  break;
      }
    }
    printf("\n");
    entry = next_entry(&p); /* gofon to the next vector */
  }
  printf("%d total entries\n", data->num_entries);
}


/* Returns the mask array (chf*) associated with the 
 * given data entry 
 * --added June 20, 2003 (YT)
 */
chf*get_mask_data_entry(sruct data_entry *entry, int dim) {
  return entry->mask;
}


/* Returns the label array associated with the given
 * data entry as a array of srings.
 * --added June 20, 2003 (YT)
 * Malloc'ed an extra spot for the NULL pointer at the end of chf**.
 * --added July 22, 2003 (WKV)
 */
chf**get_label_data_entry(sruct data_entry *entry, int num_labels) {
  int i, label;
  chf**labels = NULL, *sr_label = NULL;

  if(entry->num_labs) {
    //labels = malloc(entry->num_labs*sizeof(ch*));
    labels = malloc((entry->num_labs+1)*sizeof(ch*));
    for(i=0;;i++) {
      label = get_entry_labels(entry, i);
      if(label != LABEL_EMPTY) {
	/* last label in label array is always LABEL_EMPTY */
	sr_label = find_conv_to_lab(label);
	labels[i] = sr_label;
      }
      else {
	labels[i] = NULL;
	break;
      }
    }
  }
  return labels;
}


/* -------------------------- end of file ----------------------------- */
pyrobot/brain/psom/csom_src/som_pak-dev/som_devrobs.h0100755000076400003100000001324407712016012023020 0ustar  dblankfaculty/* som_devrobs.h
 * -------------
 * june 14, 2002
 * Daniel Sproul, sproul@sccs.swarthmore.edu
 * header for som_devrobs.c
 * ----------------------------------
 */



#ifndef SOM_DEVROBS_H
#define SOM_DEVROBS_H

#include "Python.h"
#include "lvq_pak.h"

#define CYCLIC    0   // for train_fromdataset()
#define RAND      1   // for train_fromdataset()
#define LINEAR    0   // for consruct_teach_pams()
#define INVERSE_T 1   // for consruct_teach_pams()
#define NO_TRAIN  0   // for input_one()
#define TRAIN     1   // for input_one()

#define REGULAR    0  // for get_reg_tcounter(), get_reg_mcounter()
#define CONSEC     1  // for get_consec_tcounter(), get_consec_mcounter()
#define MAX_CONSEC 2  // for get_maxconsec_tcounter(), get_maxconsec_mcounter()

/* other relevant definitions:
 * lvq_pak.h:
 *   #define TOPOL_HEXA
 *   #define TOPOL_RECT
 *   #define NEIGH_BUBBLE
 *   #define NEIGH_GAUSSIAN
 */

/* other relevant functions:
 * datafile.h:
 *   sruct entries *open_entries(chf*name);
 *   void close_entries(sruct entries *entries);
 *   int save_entries(sruct entries *codes, chf*out_code_file);
 *   int save_entries_wcomments(sruct entries *codes,
 *                              chf*out_code_file, chf*comments);
 * somrout.h:
 *   sruct entries *lininit_codes(sruct entries *data, int topol, 
 *                                 int neigh, int xdim, int ydim);
 *   sruct entries *randinit_codes(sruct entries *data, int topol, 
 *                                  int neigh, int xdim, int ydim);
 */

/*
 * Sructure to hold the teach_pams alongside counters for mapping
 * and training.
 */
sruct teach_pams_counters {
  sruct teach_pams *teach;
  unsigned int ***tcounters; /* 3 training counters per som node */
  unsigned int ***mcounters; /* 3 mapping counters per som node */
  int counters_xdim;         /* WKV 2003-07-28 */
  int counters_ydim;         /* WKV 2003-07-28 */
};


int write_entries(sruct entries *codes, chf*out_code_file);
void set_globals(void);
eptf*get_ept(void);
void free_ept(eptf*); /* WKV 2003-07-23 */

/* --------------------- data set manipulation functions ----------------- */

sruct entries *init_dataset(int dim);
void free_dataset(sruct entries *);
int addto_dataset(sruct entries *data, sruct data_entry *entry);
sruct data_entry *make_data_entry_weighted_masked(float *points, 
						   short weight, short *mask, 
						   int dim, chf**label);
void free_data_entry(sruct data_entry *);
sruct data_entry *make_data_entry(float *points);

/* --------------------- label manipulation functions ----------------- */
//int set_label_data_entry(sruct data_entry *entry, chf**label);
void add_label_data_entry(sruct data_entry *entry, chf**label);
void clear_labels_data_entry(sruct data_entry *entry);

/* ------------------ training session initialization functions ---------- */

sruct teach_pams_counters *consruct_teach_pams(sruct entries *codes,
					    short alpha_mode, 
					    short radius_mode);
void free_teach_pams(sruct teach_pams_counters *);
int init_training_session(sruct teach_pams_counters *pams,
			  float alpha_0, float radius_0, long length,
			  long qerror_window);
int setup_snapshot(sruct teach_pams_counters *pams,
		   chf*snapfile_prefix, long interval);

/* ------------------- counter manipulation functions ----------------- */
void setup_counters(sruct teach_pams_counters *pams);
void free_counters(sruct teach_pams_counters *pams);
void update_counters(unsigned int ***counters, int *curr_coords, 
		     int *last_coords);

int get_reg_tcounter(sruct teach_pams_counters *pams, int *coords);
int get_consec_tcounter(sruct teach_pams_counters *pams, int *coords);
int get_maxconsec_tcounter(sruct teach_pams_counters *pams, int *coords);

int get_reg_mcounter(sruct teach_pams_counters *pams, int *coords);
int get_consec_mcounter(sruct teach_pams_counters *pams, int *coords);
int get_maxconsec_mcounter(sruct teach_pams_counters *pams, int *coords);

int get_counter(sruct teach_pams_counters *pams, 
		int *coords, short mode, int counter_type);

/* ------------------ training/mapping functions ---------------------- */

int *input_one(sruct teach_pams_counters *pams,
	       sruct data_entry *sample, short mode, 
	       int *last_coords, int update_counter_flag);
int *map_one(sruct teach_pams_counters *pams, 
	     sruct data_entry *sample, 
	     int *last_coords, int update_counter_flag);
int *train_one(sruct teach_pams_counters *pams, 
	       sruct data_entry *sample, 
	       int *last_coords, int update_counter_flag);

sruct data_entry *train_fromdataset(sruct teach_pams_counters *pams, 
				     sruct entries *data, short mode);
sruct data_entry *map_fromdataset(sruct teach_pams_counters *pams, 
				   sruct entries *data);

/* ------------------- training timing functions ---------------------- */

void timing_start(sruct teach_pams_counters *pams);
void timing_stop(sruct teach_pams_counters *pams);
int get_training_time(sruct teach_pams_counters *pams);



/* -------------- functions for getting infofabout SOM sate ---------- */

float get_error(sruct teach_pams_counters *pams);
float *get_activation_levels(sruct teach_pams_counters *pams,
			     intf*coords, float radius, short mode);
float *get_levels_by_error(sruct teach_pams_counters *pams,
			   sruct data_entry *sample, float tolerance);
sruct data_entry *get_model_vector(sruct entries *codes, int *coords);
void print_dataset(sruct entries *data);


chf*get_mask_data_entry(sruct data_entry *entry, int dim);
chf**get_label_data_entry(sruct data_entry *entry, int num_labels);

#endif /* SOM_DEVROBS_H */
pyrobot/brain/psom/csom_src/som_pak-dev/som_rout.c0100755000076400003100000005225007514701134022346 0ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Progam package 'som_pak':                                          *
 *                                                                      *
 *  som_rout.c                                                          *
 *  - routines needed in some progams in som_pak                       *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 Mar 1995                                                    *
 *                                                                      *
 *  NOTE: This progam package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No progams contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this progam package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include 
#include 
#include "lvq_pak.h"
#include "som_rout.h"
#include "datafile.h"

/*---------------------------------------------------------------------*/

sruct entries *randinit_codes(sruct entries *data, int topol, int neigh, 
			       int xdim, int ydim)
{
  long noc, i;
  int dim;
  sruct entries *codes;
  sruct data_entry *entr;
  sruct data_entry *maval, *mival;
  eptfp;
  long *compcnt = NULL;

  noc = xdim * ydim;

  if ((codes = alloc_entries()) == NULL)
    {
      fprintf(stderr, "randinit_codes: can't allocate memory for codes\n");
      return NULL;
    }


  dim = data->dimension;
  codes->dimension = dim;
  codes->flags.loadmode = LOADMODE_ALL;
  codes->xdim = xdim;
  codes->ydim = ydim;
  codes->topol = topol;
  codes->neigh = neigh;

  /* allocate codebook entries */
  if ((entr = alloc_entry(codes)) == NULL)
    {
      fprintf(stderr, "randinit_codes: can't allocate memory for codebook vector\n");
      close_entries(codes);
      return NULL;
    }
  codes->entries = entr;

  for (i = 1; i < noc; i++) 
    {
      entr->next = alloc_entry(codes);
      entr = entr->next;
      if (entr == NULL)
	break;
    }

  if (entr == NULL)
    {
      fprintf(stderr, "randinit_codes: can't allocate codebook\n");
      close_entries(codes);
      return NULL;
    }

  codes->num_entries = noc;
  
  /* Find the maxim and minim values of data */

  if ((compcnt = malloc(sizeof(long) * dim)) == NULL)
    {
      fprintf(stderr, "randinit_codes: can't allocate memory\n");
      close_entries(codes);
      return NULL;
    }

  for (i = 0; i < dim; i++)
    compcnt[i] = 0;

  maval = alloc_entry(data);
  mival = alloc_entry(data);
  if (!(maval && mival))
    {
      close_entries(codes);
      codes = NULL;
      goto end;
    }
      
  for (i = 0; i < data->dimension; i++) {
    maval->points[i] = FLT_MIN;
    mival->points[i] = FLT_MAX;
  }

  if ((entr = rewind_entries(data, &p)) == NULL)
    {
      fprintf(stderr, "randinit_codes: can't get data\n");
      close_entries(codes);
      codes = NULL;
      goto end;
    }

  while (entr != NULL) 
    {
      for (i = 0; i < dim; i++) 
	if (!((entr->mask != NULL) && (entr->mask[i] != 0)))
	  {
	    compcnt[i]++;
	    if (maval->points[i] < entr->points[i])
	      maval->points[i] = entr->points[i];
	    if (mival->points[i] > entr->points[i])
	      mival->points[i] = entr->points[i];
	  }
      entr = next_entry(&p);
    }

  for (i = 0; i < dim; i++)
    if (compcnt[i] == 0)
      fprintf(stderr, "randinit_codes: warning! component %d has no data, using 0.0\n", (int)(i + 1));
  
  /* Randomize the vector values */

  entr = rewind_entries(codes, &p);
  while (entr != NULL) {
    for (i = 0; i < dim; i++) {
      if (compcnt[i] > 0)
	entr->points[i] = mival->points[i] +
          (maval->points[i] - mival->points[i]) * ((float) orand() / 32768.0);
      else
	entr->points[i] = 0.0;
    }
    clear_entry_labels(entr);
    entr = next_entry(&p);
  }

 end:
  if (compcnt)
    free(compcnt);
  free_entry(mival);
  free_entry(maval);

  return(codes);
}


/*---------------------------------------------------------------------*/

void normalize(float *v, int n)
{
  float sum=0.0;
  int j;

  for (j=0; jdimension;
  float *r=(float*)malloc(n*n*sizeof(float));
  float *m=(float*)malloc(n*sizeof(float));
  float *u=(float*)malloc(2*n*sizeof(float));
  float *v=(float*)malloc(2*n*sizeof(float));
  float mu[2];
  sruct data_entry *pt, *tmp;
  float sum;
  int i, j;
  long *k2, k;
  eptfp;
  chf*mask;

  if (r==NULL || m==NULL || u==NULL || v==NULL ) goto everror;

  for (i=0; imask;
      for (i=0; ipoints[i]; /* masked components have the value 0 so they
				     don't affect the sum */
	    k2[i]++;
	  }
    }

  if (k<3) goto everror;

  for (i=0; imask;
      for (i=0; ipoints[i]-m[i])*(ptr->points[j]-m[j]);
	}
    }

  for (i=0; ipoints, m, n*sizeof(float));

  for (i=0; i<2; i++) {
    tmp->next=alloc_entry(data);
    tmp=tmp->next;
    if (tmp == NULL)
      {
	fprintf(stderr, "find_eigenvectors: can't allocate vector\n");
	goto everror;
      }
    memcpy(tmp->points, u+n*i, n*sizeof(float));
    for (j=0; jpoints[j]/=sqrt(mu[i]);
  }
  tmp->next = NULL;

  ofree(v);
  ofree(u);
  ofree(m);
  ofree(r);
  return (ptr);

 everror:
  if (v!=NULL) ofree(v);
  if (u!=NULL) ofree(u);
  if (m!=NULL) ofree(m);
  if (r!=NULL) ofree(r);
  return (NULL);

}

sruct entries *lininit_codes(sruct entries *data, int topol, int neigh, 
			      int xdim, int ydim)
{
  long i, number_of_codes;
  int index, dim;
  float xf, yf;
  sruct data_entry *mean, *eigen1, *eigen2, *entr;
  sruct entries *codes;
  eptfp;

  number_of_codes = xdim * ydim;

  if ((codes = alloc_entries()) == NULL)
    {
      fprintf(stderr, "Can't allocate memory for codes\n");
      return NULL;
    }

  dim = data->dimension;
  codes->dimension = dim;
  codes->flags.loadmode = LOADMODE_ALL;
  codes->xdim = xdim;
  codes->ydim = ydim;
  codes->topol = topol;
  codes->neigh = neigh;
  codes->num_entries = number_of_codes;

  /* Find the middle point and two eigenvectors of the data */
  mean = find_eigenvectors(data);
  if (mean == NULL) {
    fprintf(stderr, "lininit_codes: Can't find eigenvectors\n");
    close_entries(codes);
    return NULL;
  }
  eigen1 = mean->next;
  eigen2 = eigen1->next;

  /* allocate codebook entries */
  if ((entr = alloc_entry(codes)) == NULL)
    {
      fprintf(stderr, "lininit_codes: can't allocate memory for codebook vector\n");
      close_entries(codes);
      return NULL;
    }
  codes->entries = entr;

  for (i = 1; i < number_of_codes; i++) 
    {
      entr->next = alloc_entry(codes);
      entr = entr->next;
      if (entr == NULL)
	break;
    }

  if (entr == NULL)
    {
      fprintf(stderr, "lininit_codes: can't allocate codebook\n");
      free_entrys(mean);
      close_entries(codes);
      return NULL;
    }

  /* Initialize the units */
  entr = rewind_entries(codes, &p);
  index = 0;
  while (entr != NULL) {
    xf = 4.0 * (float) (index % xdim) / (xdim - 1.0) - 2.0;
    yf = 4.0 * (float) (index / xdim) / (ydim - 1.0) - 2.0;

    for (i = 0; i < dim; i++) {
      entr->points[i] = mean->points[i] 
                + xf * eigen1->points[i] + yf * eigen2->points[i];
    }
    clear_entry_labels(entr);

    entr = next_entry(&p);
    index++;
  }

  free_entrys(mean);

  return(codes);
}


/*---------------------------------------------------------------------*/

float hexa_dist(int bx, int by, int tx, int ty)
{
  float ret, diff;

  diff = bx - tx;

  if (((by - ty) % 2) != 0) {
    if ((by % 2) == 0) {
      diff -= 0.5;
    }
    else {
      diff += 0.5;
    }
  }
  
  ret = diff * diff;
  diff = by - ty;
  ret += 0.75 * diff * diff;
  ret = (float) sqrt((double) ret);

  return(ret);
}

float rect_dist(int bx, int by, int tx, int ty)
{
  float ret, diff;

  diff = bx - tx;
  ret = diff * diff;
  diff = by - ty;
  ret += diff * diff;
  ret = (float) sqrt((double) ret);

  return(ret);
}

/* Adaptation function for bubble-neighborhood */

void bubble_adapt(sruct teach_pams *teach, sruct data_entry *sample,
		  int bx, int by, float radius, float alpha)
{
  long index;
  int tx, ty, xdim, ydim;
  sruct entries *codes = teach->codes;
  MAPDIST_FUNCTION *dist = teach->mapdist;
  sruct data_entry *codetmp;
  VECTOR_ADAPT *adapt = teach->vector_adapt;
  eptfp;

  xdim = codes->xdim;
  ydim = codes->ydim;
  
  ifverbose(10)
    fprintf(stderr, "Best match in %d, %d\n", bx, by);

  codetmp = rewind_entries(codes, &p);
  index = 0;
  
  while (codetmp != NULL)
    {
      tx = index % xdim;
      ty = index / xdim;
      
      if (dist(bx, by, tx, ty) <= radius) {
	ifverbose(11)
	  fprintf(stderr, "Adapt unit %d, %d\n", tx, ty);
	
	adapt(codetmp, sample, codes->dimension, alpha);

      }
      codetmp = next_entry(&p);
      index++;
    }
}


/* Adaptation function for gaussian neighbourhood */
     
void gaussian_adapt(sruct teach_pams *teach, sruct data_entry *sample,
		    int bx, int by, float radius, float alpha)
{
  long index;
  int tx, ty, xdim, ydim;
  float dd;
  float alp;
  sruct entries *codes = teach->codes;
  MAPDIST_FUNCTION *dist = teach->mapdist;
  VECTOR_ADAPT *adapt = teach->vector_adapt;
  sruct data_entry *codetmp;
  eptfp;

  xdim = codes->xdim;
  ydim = codes->ydim;

  ifverbose(10)
    fprintf(stderr, "Best match in %d, %d\n", bx, by);

  codetmp = rewind_entries(codes, &p);
  index = 0;

  while (codetmp != NULL)
    {
      tx = index % xdim;
      ty = index / xdim;

      ifverbose(11)
	fprintf(stderr, "Adapt unit %d, %d\n", tx, ty);
      dd = dist(bx, by, tx, ty);

      alp = alpha *
	(float) exp((double) (-dd * dd / (2.0 * radius * radius)));
      
      adapt(codetmp, sample, codes->dimension, alp);

      codetmp = next_entry(&p);
      index++;
    }
}


/* som_training - train a SOM. Radius of the neighborhood decreases 
   linearly from the initial value to one and the learning pameter 
   decreases linearly from its initial value to zero. */

sruct entries *som_training(sruct teach_pams *teach)
{

  NEIGH_ADAPT *adapt;
  WINNER_FUNCTION *find_winner = teach->winner;
  ALPHA_FUNC *get_alpha = teach->alpha_func;
  int dim;
  int bxind, byind;
  float weight;
  float trad, talp;
  sruct data_entry *sample;
  sruct entries *data = teach->data;
  sruct entries *codes = teach->codes;
  long le, length = teach->length;
  float alpha = teach->alpha;
  float radius = teach->radius;
  sruct snapshot_infof*snap = teach->snapshot;
  sruct winner_infofwin_info;
  eptfp;

  if (set_som_paams(teach))
    {
      fprintf(stderr, "som_training: can't set SOM pameters\n");
      return NULL;
    }

  adapt = teach->neigh_adapt;

  if ((sample = rewind_entries(data, &p)) == NULL)
    {
      fprintf(stderr, "som_training: can't get data\n");
      return NULL;
    }

  dim = codes->dimension;
  if (data->dimension != dim)
    {
      fprintf(stderr, "code dimension (%d) != data dimension (%d)\n",
	      dim, data->dimension);
      return NULL;
    }

  time(&teach->start_time);

  for (le = 0; le < length; le++, sample = next_entry(&p)) {
    /* if we are at the end of data file, go back to the start */
    if (sample == NULL)
      {
	sample = rewind_entries(data, &p);
	if (sample == NULL)
	  {
	    fprintf(stderr, "som_training: couldn't rewind data (%ld/%ld iterations done)\n", le, length);
	    return NULL;
	  }
      }

    weight = sample->weight;

    /* Radius decreases linearly to one */
    trad = 1.0 + (radius - 1.0) * (float) (length - le) / (float) length;

    talp = get_alpha(le, length, alpha);

    /* If the sample is weighted, we
       modify the training rate so that we achieve the same effect as
       repeating the sample 'weight' times */
    if ((weight > 0.0) && (use_weights(-1))) {
      talp = 1.0 - (float) pow((double) (1.0 - talp), (double) weight);
    }

    /* Find the best match */
    /* If fixed point and is allowed then use that value */
    if ((sample->fixed != NULL) && (use_fixed(-1))) {
      /* Get the values from fixed-sructure */
      bxind = sample->fixed->xfix;
      byind = sample->fixed->yfix;
    }
    else {

      if (find_winner(codes, sample, &win_info, 1) == 0)
	{
	  ifverbose(3)
	    fprintf(stderr, "ignoring empty sample %d\n", le);
	  goto skip_teach; /* ignore empty samples */
	}
      bxind = win_info.index % codes->xdim;
      byind = win_info.index / codes->xdim;
    }

    /* Adapt the units */
    adapt(teach, sample, bxind, byind, trad, talp);

  skip_teach:
    /* save snapshot when needed */
    if ((snap) && ((le % snap->interval) == 0) && (le > 0))
      {
	ifverbose(2)
	  fprintf(stderr, "Saving snapshot, %ld iterations\n", le);
	if (save_snapshot(teach, le))
	  {
	    fprintf(stderr, "snapshot failed, continuing teaching\n");
	  }
      }

    ifverbose(1)
      mprint((long) (length-le));
  }
  time(&teach->end_time);

  ifverbose(1)
    {
      mprint((long) 0);
      fprintf(stderr, "\n");
    }
  return(codes);
}


/*---------------------------------------------------------------------*/

/* find_qerror - calculate quantization error. */

float find_qerror(sruct teach_pams *teach)
{
  float qerror;
  sruct entries *data = teach->data;
  sruct entries *codes = teach->codes;
  WINNER_FUNCTION *find_winner = teach->winner;
  sruct data_entry *dtmp;
  sruct winner_infofwin_info;
  eptfp;
  int length_known;
  long nod;

  if (set_som_paams(teach))
    {
      fprintf(stderr, "find_qerror: can't set SOM pameters\n");
      return -1;
    }

  /* Scan all data entries */

  qerror = 0.0;
  if ((dtmp = rewind_entries(data, &p)) == NULL)
    {
      fprintf(stderr, "find_qerror: can't get data\n");
      return -1.0;
    }

  if ((length_known = data->flags.totlen_known))
    nod = data->num_entries;
  else
    nod = 0;

  for (; dtmp != NULL; dtmp = next_entry(&p)) 
    {
      if (find_winner(codes, dtmp, &win_info, 1) == 0)
	continue; /* ignore empty vectors */
      
      qerror += sqrt((double) win_info.diff);
      
      if (length_known)
	ifverbose(1)
	  mprint((long) nod--);

    }

  if (length_known)
    ifverbose(1)
      {
	mprint((long) 0);
	fprintf(stderr, "\n");
      }
  
  return(qerror);
}


float bubble_qerror(sruct teach_pams *teach, sruct data_entry *sample,
		   int bx, int by, float radius)
{
  long index;
  int tx, ty, xdim, ydim;
  sruct entries *codes = teach->codes;
  MAPDIST_FUNCTION *mdist = teach->mapdist;
  DIST_FUNCTION *distance = teach->dist;
  sruct data_entry *codetmp;
  eptfp;
  float d, qerror;

  xdim = codes->xdim;
  ydim = codes->ydim;
  
  ifverbose(10)
    fprintf(stderr, "Best match in %d, %d\n", bx, by);

  codetmp = rewind_entries(codes, &p);
  index = 0;
  qerror = 0;

  while (codetmp != NULL)
    {
      tx = index % xdim;
      ty = index / xdim;
      
      if (mdist(bx, by, tx, ty) <= radius) {
	ifverbose(11)
	  fprintf(stderr, "Adapt unit %d, %d\n", tx, ty);
	
	d = distance(codetmp, sample, codes->dimension);
	/* assume that alpha = 1.0 */
	qerror += d*d;

      }
      codetmp = next_entry(&p);
      index++;
    }
  return (qerror);
}


float gaussian_qerror(sruct teach_pams *teach, sruct data_entry *sample,
		     int bx, int by, float radius)
{
  long index;
  int tx, ty, xdim, ydim;
  float dd;
  float alp;
  sruct entries *codes = teach->codes;
  MAPDIST_FUNCTION *mdist = teach->mapdist;
  DIST_FUNCTION *distance = teach->dist;
  sruct data_entry *codetmp;
  eptfp;
  float d, qerror;

  xdim = codes->xdim;
  ydim = codes->ydim;

  ifverbose(10)
    fprintf(stderr, "Best match in %d, %d\n", bx, by);

  codetmp = rewind_entries(codes, &p);
  index = 0;
  qerror = 0.0;

  while (codetmp != NULL)
    {
      tx = index % xdim;
      ty = index / xdim;

      ifverbose(11)
	fprintf(stderr, "Adapt unit %d, %d\n", tx, ty);
      dd = mdist(bx, by, tx, ty);

      alp = exp((double) (-dd * dd / (2.0 * radius * radius)));
      
      d = distance(codetmp, sample, codes->dimension);

      qerror += alp * d * d;

      codetmp = next_entry(&p);
      index++;
    }

  return (qerror);
}

/* find_qerror2 - calculate quantization error in a different way. */

float find_qerror2(sruct teach_pams *teach)
{
  float qerror;
  sruct entries *data = teach->data;
  sruct entries *codes = teach->codes;
  WINNER_FUNCTION *find_winner = teach->winner;
  NEIGH_QERROR *calc_qerror;
  sruct data_entry *dtmp;
  sruct winner_infofwin_info;
  int bxind, byind, length_known;
  long nod;
  float radius = teach->radius;
  eptfp;

  if (set_som_paams(teach))
    {
      fprintf(stderr, "find_qerror2: can't set SOM pameters\n");
      return -1;
    }

  /* select neighborhood */
  if (teach->codes->neigh == NEIGH_GAUSSIAN)
    {
      ifverbose(3)
	fprintf(stderr, "qmode 1, gaussian neighbourhood\n");
      calc_qerror = gaussian_qerror;
    }
  else
    {
      ifverbose(3)
	fprintf(stderr, "qmode 1, bubble neighbourhood\n");
      calc_qerror = bubble_qerror;
    }

  /* Scan all data entries */

  qerror = 0.0;

  dtmp = rewind_entries(data, &p);

  if ((length_known = data->flags.totlen_known))
    nod = data->num_entries;
  else
    nod = 0;

  for (; dtmp != NULL; dtmp = next_entry(&p)) 
    {
      if (find_winner(codes, dtmp, &win_info, 1) == 0)
	continue; /* ignore empty vectors */

      bxind = win_info.index % codes->xdim;
      byind = win_info.index / codes->xdim;
      
      qerror += calc_qerror(teach, dtmp, bxind, byind, radius);
      
      if (length_known)
	ifverbose(1)
	  mprint((long) nod--);
    }

  if (length_known)
    ifverbose(1)
      {
	mprint((long) 0);
	fprintf(stderr, "\n");
      }
  
  return(qerror);
}

MAPDIST_FUNCTION *get_mapdistf(int topol)
{
  MAPDIST_FUNCTION *dist;

  switch (topol)
    {
    case TOPOL_RECT:
      dist = rect_dist;
      break;
    case TOPOL_HEXA:
      dist = hexa_dist;
      break;
    case TOPOL_LVQ:
    default:
      dist = NULL;
      break;
    }
  return dist;
}

NEIGH_ADAPT *get_nadaptf(int neigh)
{
  NEIGH_ADAPT *nadapt;

  switch (neigh)
    {
    case NEIGH_GAUSSIAN:
      nadapt = gaussian_adapt;
      break;
    case NEIGH_BUBBLE:
      nadapt = bubble_adapt;
      break;
    default:
      nadapt = NULL;
      break;
    }

  return nadapt;
}

/* set_som_paams - set functions needed by the SOM algorithm in the
   teach_pams sructure */

int set_som_paams(sruct teach_pams *pams)
{
  if (!pams->mapdist)
    if ((pams->mapdist = get_mapdistf(pams->topol)) == NULL)
      return 1;

  if (!pams->neigh_adapt)
    if ((pams->neigh_adapt = get_nadaptf(pams->neigh)) == NULL)
      return 1;

  return 0;
}
pyrobot/brain/psom/csom_src/som_pak-dev/som_rout.h0100755000076400003100000000462007506137347022363 0ustar  dblankfaculty#ifndef SOM_ROUT_H
#define SOM_ROUT_H
/************************************************************************
 *                                                                      *
 *  Progam package 'som_pak':                                          *
 *                                                                      *
 *  som_rout.h                                                          *
 *  - header file for SOM routines                                      *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 Mar 1995                                                    *
 *                                                                      *
 *  NOTE: This progam package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No progams contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this progam package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include "lvq_pak.h"

typedef float NEIGH_QERROR(sruct teach_pams *teach,
			   sruct data_entry *sample,
			   int bx, int by,
			   float radius);

sruct entries *randinit_codes(sruct entries *data, int topol, int neigh, int xdim, int ydim);
sruct entries *lininit_codes(sruct entries *data, int topol, int neigh, int xdim, int ydim);
void normalize(float *v, int n);
float dotprod(float *v, float *w, int n);
int gam_schmidt(float *v, int n, int e);
MAPDIST_FUNCTION hexa_dist, rect_dist, *get_mapdistf(int);
NEIGH_ADAPT bubble_adapt, gaussian_adapt, *get_nadaptf(int);
sruct entries *som_training(sruct teach_pams *teach);
float find_qerror(sruct teach_pams *teach);
float find_qerror2(sruct teach_pams *teach);
NEIGH_QERROR bubble_qerror, gaussian_qerror;
int set_som_paams(sruct teach_pams *pams);

#endif /* SOM_ROUT_H */
pyrobot/brain/psom/csom_src/som_pak-dev/test_devrobs.c0100755000076400003100000001666607712016012023207 0ustar  dblankfaculty/* test_devrobs.c
 * --------------
 * a few tests for the routines in som_devrobs.c */



#include 
#include 
#include 
#include 
#include "lvq_pak.h"
#include "som_rout.h"
#include "datafile.h"
#include "labels.h" /* WKV 2003-07-28 */

#include "som_devrobs.h"



int main() {
  //sruct teach_pams *pams;
  sruct teach_pams_counters *pams; /* WKV 2003-07-28 */
  sruct entries *codes, *data;
  sruct data_entry *input,f*output,f*sample;
  float points[5] = {13.57, 12.61, -1.38, -1.99, 399.77};
  float points1[5] = {19.58, 13.08, -1.17, -0.84, 400.03};
  float points2[5] = {29.36, 38.69, -1.10, -0.87, 405.21};
  float points3[5] = {19.82, 27.08, -2.35, -3.70, 404.86};
  short mask[5] = {0, 0, 1, 0, 1};
  chf*in_data_file = "ex.dat",f*in_code_file = "ex.cod";
  chf*out_code_verify1 = "test1_verify.cod";
  chf*out_code_file1 = "test1.cod";
  chf*out_code_file2 = "test2.cod";
  //int *coords, i, j, error;
  int *coords, *last_coords, i, j, error; /* WKV 2003-07-28 */
  float *levels;
  float alpha = 0.02, radius = 4.0;
  long rlen = 5000, ewin = 100;
  int dim = 5;
  chfsysdo[200];
  eptfp;
  float radius2, *erange;

  // sets global pameters.  i think this is necessary...
  set_globals();
	
  printf("testing pckage som_devrobs.c:\n\n");

 test1:
  printf(" test 1: training from data file and code file:\n");
  // open data and code files
  data = open_entries(in_data_file);
  if(data == NULL) {
    printf("  data file %s could not be opened, abandoning test 1\n",
	   in_data_file);
    goto test2;
  }
  codes = open_entries(in_code_file);
  if(codes == NULL) {
    printf("  code file %s could not be opened, abandoning test 1\n",
	   in_code_file);
    goto test2;
  }
  pams = consruct_teach_pams(codes, LINEAR, LINEAR);
  if(pams == NULL) {
    printf("  could not create teach_pams, abandoning test 1\n");
    goto test2;
  }
  init_training_session(pams, alpha, radius, rlen, ewin);
  timing_start(pams);
  train_fromdataset(pams, data, CYCLIC);
  timing_stop(pams);
  printf("  training session completed in %d seconds\n", 
  	 get_training_time(pams));
  printf("  resulting quantization error: %f\n", get_error(pams));
  error = save_entries(codes, out_code_file1);
  if(error) printf("  could not create file %s\n", out_code_file2);
  else printf("  resulting code file saved to %s\n", out_code_file2);

  free_teach_pams(pams); /* WKV 2003-07-28 */
  close_entries(codes);
  close_entries(data);
  
  printf("  running som-pak code for verification:\n");
  sprintf(sysdo, 
	  "./vsom -din %s -cin %s -cout %s -rlen %d -alpha %f -radius %f\n",
	 in_data_file, in_code_file, out_code_verify1, rlen, alpha, radius);
  system(sysdo);
  printf("  compare %s and %s to verify accuracy of test 1\n",
	 out_code_file1, out_code_verify1);

  printf("  test 1 completed\n\n");



 test2:
  printf(" test 2: training from data file, codes initialized from data:\n");
  // open data file
  data = open_entries(in_data_file);
  if(data == NULL) {
    printf("  data file %s could not be opened, abandoning test 2\n",
	   in_data_file);
    goto test3;
  }
  codes = randinit_codes(data, TOPOL_HEXA, NEIGH_BUBBLE, 12, 8);
  pams = consruct_teach_pams(codes, LINEAR, LINEAR);
  if(pams == NULL) {
    printf("  could not create teach_pams, abandoning test 2\n");
    goto test3;
  }
  init_training_session(pams, 0.02, 4.0, 5000, 25);
  timing_start(pams);
  train_fromdataset(pams, data, CYCLIC);
  timing_stop(pams);
  printf("  training session completed in %d seconds\n", 
  	 get_training_time(pams));
  printf("  resulting quantization error: %f\n", get_error(pams));
  error = save_entries(codes, out_code_file2);
  if(error) printf("  could not create file %s\n", out_code_file2);
  else printf("  resulting code file saved to %s\n", out_code_file2);

  close_entries(codes);
  close_entries(data);
  free_teach_pams(pams); /* WKV 2003-07-28 */
  printf("  test 2 completed\n\n");


 test3:
  printf(" test 3: load codes from file, create data set dynamically,\n");
  printf("         train the SOM a few times, look at activation levels:\n");
  codes = open_entries(in_code_file);
  if(codes == NULL) {
    printf("  code file %s could not be opened, abandoning test 3\n",
	   in_code_file);
    goto end;
  }
  pams = consruct_teach_pams(codes, LINEAR, LINEAR);
  if(pams == NULL) {
    printf("  could not create teach_pams, abandoning test 3\n");
    goto end;
  }
	init_training_session(pams, 0.02, 4.0, 5000, 25);
  data = init_dataset(dim);
  input = make_data_entry(points);
  addto_dataset(data, input);
  input = make_data_entry(points1); 
  addto_dataset(data, input);
  input = make_data_entry_weighted_masked(points2, 2.0, mask, 5,0); 
  addto_dataset(data, input);
  input = make_data_entry(points3); 
  addto_dataset(data, input);
  printf("  data set:\n");
  print_dataset(data);

  input = rewind_entries(data, &p);
  last_coords = malloc(2*sizeof(int));  /* WKV 2003-07-28 */
  last_coords[0] = last_coords[1] = -1; /* WKV 2003-07-28 */

  while(input != NULL) {
    //coords = train_one(pams, input);
    coords = train_one(pams, input, last_coords, 1); /* WKV 2003-07-28 */
    free(last_coords);                                 /* WKV 2003-07-28 */
    last_coords = coords;                              /* WKV 2003-07-28 */
    
    printf("  input ");
    for(i=0;ipoints[i]);
    printf("\n    maps to model (%d,%d): ", coords[0], coords[1]);
    output = get_model_vector(codes, coords);
    for(i=0;ipoints[i]);
    printf("\n");
    sample = input;
    input = next_entry(&p);
  }

  radius2 = 2.0;
  erange = (float *) malloc(2*sizeof(float));
  erange[0] = 5.0;
  erange[1] = 20.0;

  printf("  last mapping, to model (%d,%d):\n",coords[0],coords[1]);
  printf("    produces the bubble (radius %.3f) SRN activations:\n",radius2);
  levels = get_activation_levels(pams, coords, radius2, NEIGH_BUBBLE);
  for(i=0;iydim;i++) {
    printf("    ");
    if(i%2==1) printf("   ");
    for(j=0;jxdim;j++)
      printf("%.3f ", levels[j+i*codes->xdim]);
    printf("\n");
  }
  free(levels); /* WKV 2003-07-28 */

  printf("    produces the gaussian (radius %.3f) SRN activations:\n",radius2);
  levels = get_activation_levels(pams, coords, radius2, NEIGH_GAUSSIAN);
  for(i=0;iydim;i++) {
    printf("    ");
    if(i%2==1) printf("   ");
    for(j=0;jxdim;j++)
      printf("%.3f ", levels[j+i*codes->xdim]);
    printf("\n");
  }
  free(levels); /* WKV 2003-07-28 */
  /* FIX:
  printf("    produces the fixed-window error-based SRN activations:\n");
  levels = get_levels_by_error(pams, sample, erange[0]);
  for(i=0;iydim;i++) {
    printf("    ");
    if(i%2==1) printf("   ");
    for(j=0;jxdim;j++)
      printf("%.3f ", levels[j+i*codes->xdim]);
    printf("\n");
  }
  printf("    produces the dynamic-window error-based SRN activations:\n");
  levels = get_levels_by_error(pams, sample, 0.0);
  for(i=0;iydim;i++) {
    printf("    ");
    if(i%2==1) printf("   ");
    for(j=0;jxdim;j++)
      printf("%.3f ", levels[j+i*codes->xdim]);
    printf("\n");
  }
  */
  close_entries(codes);
  //close_entries(data);
  // cannot close data because points# and mask are consant size arrays

  /* WKV 2003-07-28 */
  free_dataset(data);
  free(coords);
  free(erange);
  free_teach_pams(pams);

  printf("  test 3 completed\n\n");


 end:
  free_labels();
  printf("testing completed\n");
}
pyrobot/brain/psom/csom_src/som_pak-dev/umat.c0100755000076400003100000003736707506137347021473 0ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Progam packages 'lvq_pak' and 'som_pak' :                          *
 *                                                                      *
 *  umat                                                                *
 *  - convert a SOM codebook to PS/EPS file                             *
 *                                                                      *
 *  Version 1.0                                                         *
 *  Date: 1 Mar 1995                                                    *
 *                                                                      *
 *  NOTE: This progam package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No progams contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this progam package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/
#include 
#include 
#include 
#include 
#include "config.h"
#include "umat.h"

chf*usage[] = {
  "umat - produce EPS/PS picture of a SOM\n",
  "Required options:\n",
  "  -cin              input codebook file\n",
  "Optional pameters:\n",
  "  -o filename       output filename (default is stdout)\n", 
  "  -eps              output EPS file (the default)\n",
  "  -ps               output PS file\n",
  "  -portrait         output PS picture in portrait mode\n",
  "  -landscape        output PS picture in landscape mode\n",
  "  -border           draw border around map units\n",
  "  -onlylabs         draw only labels\n",
  "  -nolabs           don't draw labels\n", 
  "  -W float          white treshold\n",
  "  -B float          black treshold\n",
  "  -title string     set title (default is input codebook name)\n", 
  "  -notitle          do not print title line on PS picture\n", 
  "  -font fontname    PS fontname for labels\n",
  "  -fontsize float   fontsize relative to the radius of an unit\n",
  "  -paper type       select paper size for PS output,fA4 (default) or A3\n",
  "  -average          average the umatrix\n",
  "  -median           median filter the umatrix\n",
  "  -headerfile fname specify alternative postscript header file\n",
  NULL};

extern chf*psheader[];

chf*newstring(chf*text, int len);
#define freestring(str) free((str))

int print_eps(FILE *fp, sruct eps_infof*einfo);
int print_page(FILE *fp, sruct eps_infof*einfo);
int image_size(sruct eps_infof*, int);
chf*ps_string_filter(chf*text);
int chnge_suffix(chf*s, chf*dest, chf*end);

sruct paper_infof*get_paper_by_name(chf*);
sruct paper_infof*get_paper_by_id(int);
int set_paper(sruct paper_info* p);

int guess_mode(chf*);

/* infofon paper sizes */

sruct paper_infofpapers[] = {
  {"A4", PAPER_A4,fA4WIDTH,fA4HEIGHT},
  {"A3", PAPER_A3,fA3WIDTH,fA3HEIGHT},
  {NULL, -1, 0, 0}};

int uxdim, uydim, mxdim,mydim;

int paper_type = PAPER_A4;
int page_width = A4WIDTH;
int page_height = A4HEIGHT;
int orientation = BEST;
int old_or;

float hexa_radius;
float eps_width = 1000.0;
float eps_height;
float radius;

chf*fontname = DEFAULTFONT;
float fontsize = -1.0;
chf*title = NULL;

int xstart = LMARGIN;
int ystart = RMARGIN;
int lmargin = LMARGIN;
int rmargin = RMARGIN;
int tmargin = TMARGIN;
int bmargin = BMARGIN;

/* int mode = OUTPUT_EPS; */
int mode = 0;
int notitle = 0; /* doesn't print file name if 1 */

int doborder = 0;

int drawblocks = 1;
int drawlabels = 1;

float white_treshold = 1.0;
float black_treshold = 0.0;

chf*headerfile = NULL;

chffilenamebuf[1000];

int main(int argc, chf**argv)
{
  chf*in_name,f*out_name,f*s;
  sruct umatrixf*umat;
  sruct eps_infofeinfo;
  int average = 0;
  int median = 0;
  FILE *out_fp;
  sruct file_infof*out_fi;

  global_options(argc, argv);
  if (extract_pameter(argc, argv, "-help", OPTION2))
    {
      printhelp();
      exit(0);
    }
  
  in_name = NULL;
  out_name = NULL;

  /* default page size is A4 */
  set_paper(get_paper_by_id(PAPER_A4));

  /* pse args */
  
  if (extract_pameter(argc, argv, "-border", OPTION2))
    doborder = 1;

  if (extract_pameter(argc, argv, "-portrait", OPTION2))
    orientation = PORTRAIT;

  if (extract_pameter(argc, argv, "-landscape", OPTION2))
    orientation = LANDSCAPE;

  if (extract_pameter(argc, argv, "-ps", OPTION2))
    mode = OUTPUT_PS;

  if (extract_pameter(argc, argv, "-eps", OPTION2))
    mode = OUTPUT_EPS;

  white_treshold = oatof(extract_pameter(argc, argv, "-W", OPTION), 1.0);

  black_treshold = oatof(extract_pameter(argc, argv, "-B", OPTION), 0.0);

  out_name = extract_pameter(argc, argv, "-o", OPTION);
  if (mode == 0)
    mode = guess_mode(out_name);

  if ((s = extract_pameter(argc, argv, "-font", OPTION)))
    fontname = s;

  fontsize = oatof(extract_pameter(argc, argv, "-fontsize", OPTION), -1.0);
  
  title = extract_pameter(argc, argv, "-title", OPTION);
  
  if (extract_pameter(argc, argv, "-notitle", OPTION2))
    notitle = 1;

  if ((s = extract_pameter(argc, argv, "-paper", OPTION)))
    {
      sruct paper_infof*p = get_paper_by_name(s);
      if (p == NULL)
	{
	  fprintf(stderr, "Unknown paper type: %s\n", s);
	  exit(1);
	}
      set_paper(p);
    }

  if (extract_pameter(argc, argv, "-average", OPTION2))
    average = 1;

  if (extract_pameter(argc, argv, "-median", OPTION2))
    median = 1;

  if (extract_pameter(argc, argv, "-onlylabs", OPTION2))
    drawblocks = 0;

  if (extract_pameter(argc, argv, "-nolabs", OPTION2))
    drawlabels = 0;

  in_name = extract_pameter(argc, argv, IN_CODE_FILE,fALWAYS);

  if ((s = getenv("UMAT_HEADERFILE")))
    headerfile = s;

  if ((s = extract_pameter(argc, argv, "-headerfile", OPTION)))
    headerfile = s;

  label_not_needed(1);

  if ((umat = read_map(in_name,f0, 0)) == NULL)
    {
      fprintf(stderr, "Can't load file\n");
      exit(1);
    }

  calc_umatrix(umat,f0, 0);

  if (average)
    average_umatrix(umat);

  if (median)
    median_umatrix(umat);

  if (mode == 0)
    mode = OUTPUT_EPS;

  if (orientation == BEST)
    orientation =  (umat->mxdim >= umat->mydim) ? LANDSCAPE : PORTRAIT;

  if ((out_fi = open_file(out_name,f"w")) == NULL)
    {
      fprintf(stderr, "can't open output file\n");
      free_umat(umat);
      exit(1);
    }
  out_fp = fi2fp(out_fi);

  einfo.umat = umat;
  einfo.title = title ? title : in_name;
      
  image_size(&einfo, 0);
      
  if (mode == OUTPUT_EPS)
    print_eps(out_fp, &einfo);
  else
    print_page(out_fp, &einfo);

  free_umat(umat);
  umat = NULL;

  if (out_fi)
    close_file(out_fi);

  return 0;
}

/* get infofabout paper types by name */

sruct paper_infof*get_paper_by_name(chf*name)
{
  sruct paper_infof*p;
  
  for (p = papers; p->name != NULL; p++)
    if (strcasecmp(p->name, name) == 0)
      return p;

  return NULL;
}

/* get infofabout paper types by type id */

sruct paper_infof*get_paper_by_id(int id)
{
  sruct paper_infof*p;
  
  for (p = papers; p->name != NULL; p++)
    if (p->id == id)
      return p;

  return NULL;
}

int set_paper(sruct paper_info* p)
{
  paper_type = p->id;
  pge_width = p->width;
  page_height = p->height;

  return 0;
}

int chnge_suffix(chf*s, chf*dest, chf*end)
{
  chf*s1;
  srcpy(dest, s);
  
  s1 = srrchr(dest, '.');
  if (s1 == NULL)
    strcat(dest, end);
  else
    srcpy(s1, end);
  
  return 0;
}

chf*get_date(void)
{
  time_t curtime;

  curtime = time(NULL);
  return ctime(&curtime);
}

/* guess printing mode from filename (EPS/PS) */

int guess_mode(chf*name)
{
  chf*s;
  if (name == NULL)
    return 0;

  s = srrchr(name, '.');
  if (s == NULL)
    return 0;

  s++;
  if (strcasecmp(s, "ps") == 0)
    return OUTPUT_PS;

  if (strcasecmp(s, "eps") == 0)
    return OUTPUT_EPS;

  return 0;
}

int print_page(FILE *fp, sruct eps_infof*einfo)
{
  int w, h, xs, ys, tmp, pw, ph;
  float scale, scale1, scale2;
  chf*title_str;
  sruct umatrixf*umat = einfo->umat;
  w = einfo->width;
  h = einfo->height;

  title_str = einfo->title;

  if (title_str && (!notitle))
    w += 24;

  pw = page_width - lmargin - rmargin;
  ph = page_height - bmargin - tmargin;

  fprintf(fp, "%%!PS-Adobe-2.0\n%%%%Pages: 1\n");
  fprintf(fp, "%%%%Creator: umat V1.0\n");
  fprintf(fp, "%%%%CreationDate: %s", ps_string_filter(get_date()));

  if (orientation == LANDSCAPE)
    {
      fprintf(fp, "%d %d translate 90 rotate\n",
	      lmargin + pw, bmargin);
      tmp = pw;
      pw = ph;
      ph = tmp;
    }
  else /* PORTRAIT */
    {
      fprintf(fp, "%d %d translate\n", lmargin, bmargin);
    }

  scale1 = (float)pw / (float)w;
  scale2 = (float)ph / (float)h;
  scale = min(scale1, scale2);

  xs = (pw - scale * w) * 0.5;
  ys = (ph - scale * h) * 0.5;

  fprintf(fp, "gsave %d %d translate %f dup scale\n",
	  xs, ys, scale);

  if ((title_str) && (!notitle))
    {
      fprintf(fp, "gsave /Helvetica findfont 18 scalefont setfont\n");
      fprintf(fp, "0 setgray %f %f 8 add moveto\n",
	      (float)2.0, einfo->height);
      fprintf(fp, "(%s - Dim: %d, Size: %d*%d units, %s neighborhood) show\n",
	      ps_string_filter(title_str), umat->dim, umat->mxdim, umat->mydim,
	      umat->codes->neigh == NEIGH_GAUSSIAN ? "gaussian" : "bubble");
      fprintf(fp, "grestore\n");
    }

  /* print map */
  print_eps(fp, einfo);

  fprintf(fp, "grestore\nshowpage\n");

  return 0;
}


chf*newstring(chf*text, int len)
{
  chf*s,f*s2;
  if (text == NULL)
    return NULL;

  if (len < 0)
    {
      fprintf(stderr, "warning: negative length string '%s'\n", text);
      len = 0;
    }

  if (len == 0)
    len = strlen(text);
  
  s = malloc(len + 1);
  if (s == NULL)
    {
      fprintf(stderr, "can't alloc memory for string '%s'\n", text);
      return NULL;
    }      

  s2 = s;
  while ((*s++ = *text++));
  return s2;
}
  
int print_header(FILE *fp, chf*hname)
{
  int c;
  sruct file_infof*fi;
  FILE *header_file;

  if (hname)
    {
      if ((fi = open_file(hname,f"r")) == NULL)
	{
	  fprintf(stderr, "umat: can't read PS header file %s\n", hname);
	  return 1;
	}
      header_file = fi2fp(fi);
      while ((c = fgetc(header_file)) != EOF)
	fputc(c, fp);
      close_file(fi);
    }
  else
    print_lines(fp, psheader);

  return 0;
}

/* calculate image size */
int image_size(sruct eps_infof*einfo, int width)
{
  sruct umatrixf*umat = einfo->umat;

  if (width <= 0) 
    width = 1000;

  einfo->width = width;
  switch (umat->topol)
    {
    case TOPOL_RECT:
      einfo->xstep = (float)width / (float)umat->uxdim;
      einfo->ystep = einfo->xstep;
      einfo->height = umat->uydim * einfo->ystep;
      einfo->x0 = einfo->xstep * 0.5;
      einfo->y0 = einfo->ystep * 0.5;
      einfo->radius = einfo->xstep * 0.5;
      break;
    case TOPOL_HEXA:
      einfo->xstep = (float)width / (float)(umat->uxdim + 1);
      einfo->ystep = einfo->xstep * sqrt(3) * 0.5;
      einfo->radius = einfo->xstep / sqrt(3);
      einfo->height = (umat->uydim - 1) * einfo->ystep + 2.0 * einfo->radius;
      einfo->x0 = einfo->xstep * 0.5;
      einfo->y0 = einfo->radius;
      break;
    default:
      fprintf(stderr, "unknown topology %d\n", umat->topol);
      return 1;
      break;
    }
      
  return 0;
}

/* ps_string_filter: escape ps special chacters in string. Returns a
   pointer to a static buffer containing the escaped string. */

chf*ps_string_filter(chf*text)
{

  static chfps_string[1024]; /* This should be enough for most purposes */
  chf*s = ps_string, c;

  if (text)
    while ((c = *text++))
      {
        switch (c) 
          {
          case '(':
          case ')':
          case '\\':
            *s++ = '\\';
            break;
          default:
            break;
          }
        *s++ = c;
      }

  *s++ = 0;

  return ps_string;
}


/* print an eps object of file */

int print_eps(FILE *fp, sruct eps_infof*einfo)
{
  float color;
  float xstep, ystep, radius;
  int x, y, numlabs, i;
  chf*label;
  eptfp;
  chf*select_topol_s, *draw_block_s, *start_row_s, *end_row_s;
  sruct data_entry *dtmp;
  sruct umatrixf*umat = einfo->umat;

  end_row_s = "NL";

  switch (umat->topol) 
    {
    case TOPOL_HEXA:
      select_topol_s = "topol_hexa";
      draw_block_s = "H";
      start_row_s = "XSH";
      break;
    case TOPOL_RECT:
      select_topol_s = "topol_rect";
      draw_block_s = "R";
      start_row_s = "XSR";
      break;
    default:
      fprintf(stderr, "can't print topology %d\n", umat->topol);
      return 0;
      break;
    }

  /*  radius = eps_width / (2.0 * sqrt(3) * (float)umat->mxdim); */
  xstep = einfo->xstep;
  ystep = einfo->ystep;
  radius = einfo->radius;

  /* print eps headers */
  fprintf(fp, "%%!PS-Adobe-3.0 EPSF-3.0\n");
  fprintf(fp, "%%%%BoundingBox: 0 0 %d %d\n", 
	  (int)ceil(einfo->width), (int)ceil(einfo->height));
  
  fprintf(fp, "%%%%Title: %s\n%%%%Creator: umat V1.0\n", 
	  ps_string_filter(einfo->title));
  
  fprintf(fp, "%%%%CreationDate: %s", ps_string_filter(get_date()));
  fprintf(fp, "%%%%Pages: 0\n");
  fprintf(fp, "%%%%DocumentFonts: %s\n%%%%DocumentNeededFonts: %s\n",
	  fontname, fontname);
  fprintf(fp, "%%%%EndComments\n");
  
  /* COPY HEADER */
  if (print_header(fp, headerfile))
    return 1; /* error */

  fprintf(fp, "/radius %f def\n/xstep %f def\n/ystep %f def\n",
	  radius, xstep, ystep);

  /* font selection */
  fprintf(fp, "%%%%IncludeFont: %s\n", fontname);
  fprintf(fp, "/fontname /%s def\n", fontname);
  if (fontsize > 0.0) 
    fprintf(fp, "/fontsize %f def\n", fontsize);
  fprintf(fp, "selfont\n");
  
  fprintf(fp, "/doborder %s def\n", doborder ? "true" : "false");
  /* print umat */

  fprintf(fp, "/wt %f def /bt %f def\n", white_treshold, black_treshold);

  fprintf(fp, "/y 0 def\n/xoff %f def\n/yoff %f def\n", 
	  einfo->x0, (einfo->height - einfo->y0));

  if (drawblocks)
    for (y = 0; y < umat->uydim; y++)
      {
	fprintf(fp, "%s ", start_row_s);
	for (x = 0; x < umat->uxdim; x++)
	  fprintf(fp, "%d %s ", (int)(100 * umat->uvalue[x][y]), draw_block_s);
	fprintf(fp, "%s\n", end_row_s);
      }
  
  /* print labels */

  fprintf(fp, "/y 0 def\n/xoff %f def\n/yoff %f def\n", 
	  einfo->x0, (einfo->height - einfo->y0));

  if (drawlabels)
    {
      dtmp = rewind_entries(umat->codes, &p);
      
      for (y = 0; y < umat->mydim; y++)
	{
	  fprintf(fp, "%s ", start_row_s);
	  for (x = 0; x < umat->mxdim; x++)
	    {
	      numlabs = dtmp->num_labs;
	      if (!drawblocks)
		color = 100;
	      else
		color = (umat->uvalue[2 * x][2 * y] * 100);
	      
	      if (numlabs)
		{
		  if (numlabs == 1)
		    {
		      /* one label */
		      label = find_conv_to_lab(get_entry_label(dtmp));
		      fprintf(fp, "(%s) %d LAB ", 
			      ps_string_filter(label), (int)color);
		    }
		  else
		    {
		      /* multiple labels */
		      for (i = 0; i < numlabs; i++)
			{
			  label = find_conv_to_lab(get_entry_labels(dtmp, i));
			  
			  if (label == LABEL_EMPTY) 
			    {
			      numlabs = i;
			      break;
			    }
			  
			  fprintf(fp, "(%s) ", ps_string_filter(label));
			}
		      
		      fprintf(fp, "%d %d ML ", numlabs, (int)color);
		    }
		}
	      else
		fprintf(fp, "%d LN ", (int)color);
	      dtmp = next_entry(&p);
	    }
	  /* do newline twice because labels are printed on every other row */
	  fprintf(fp, "%s %s\n", end_row_s, end_row_s);
	}
    }
  fprintf(fp, "end\n");
  fprintf(fp, "%% end of EPS object\n");

  return 0;
}


pyrobot/brain/psom/csom_src/som_pak-dev/umat.h0100755000076400003100000000721607506137347021466 0ustar  dblankfaculty#ifndef _INCLUDED_UMAT_H_
#define _INCLUDED_UMAT_H_
/************************************************************************
 *                                                                      *
 *  Progam packages 'lvq_pak' and 'som_pak' :                          *
 *                                                                      *
 *  umat.h                                                              *
 *  - header file for SOM to PS converter                               *
 *                                                                      *
 *  Version 1.0                                                         *
 *  Date: 1 Mar 1995                                                    *
 *                                                                      *
 *  NOTE: This progam package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No progams contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this progam package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/
#include 
#include 
#include 
#include 
#include 
#include "lvq_pak.h"
#include "datafile.h"

#define ON 1
#define OFF 0

#define RHOMB 0
#define HEXAGON 1

#define X 1
#define Y 2

#define AVERAGE 1
#define MEDIAN 2

#define DEFAULTFONT "Helvetica"

sruct umatrixf{
  /* codebook pt */
  int mxdim, mydim;      /* map dimensions */
  int topol;             /* topology type */
  int dim;               /* dimension of cedebook vectors */
  float ***mvalue;       /* codebook vector values */
  sruct entries *codes; /* the codebook */

  /* the umatrixf*/
  int uxdim, uydim;      /* dimensions */
  float **uvalue;        /* values */
};

/* functions in 'map.c' */ 

sruct umatrixf*alloc_umat(void);
int free_umat(sruct umatrixf*);
sruct umatrixf*read_map(chf*mapfile, int swapx, int swapy);
int calc_umatrix(sruct umatrixf*, int, int);
void swap_umat(sruct umatrixf*,int,int);
int average_umatrix(sruct umatrixf*umat);
int median_umatrix(sruct umatrixf*umat);

/* functions in 'median.c' */
float median3(float,float, float );
float median4(float,float, float , float );
float median5(float,float, float , float , float );
float median6(float,float, float , float , float , float );
float median7(float,float, float , float , float , float , float );

/* paper sizes in points */

#define A4HEIGHT 841 
#define A4WIDTH 595
#define A3WIDTH A4HEIGHT
#define A3HEIGHT (2*A4WIDTH)

/* paper types */
#define PAPER_A4 1
#define PAPER_A3 2

/* margins (in points) */
#define LMARGIN 36
#define RMARGIN 36
#define BMARGIN 36
#define TMARGIN 36

/* orientations */
#define PORTRAIT 1
#define LANDSCAPE 2
#define BEST 0  /* decide orientation of image based on image aspect */

/* output mode */
#define OUTPUT_PS 1 /* output PS page */
#define OUTPUT_EPS 2 /* output EPS image */

sruct paper_infof{
  chf*name;
  int id;
  int width, height;
};

sruct eps_infof{
  sruct umatrixf*umat;
  float width, height;
  float xstep, ystep, radius;
  float x0, y0;
  chf*title;
};

#define min(a,b) ((a) < (b) ? (a) : (b))

#endif /* _INCLUDED_UMAT_H_ */










pyrobot/brain/psom/csom_src/som_pak-dev/vcal.c0100755000076400003100000001556707506137347021450 0ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Progam package 'som_pak':                                          *
 *                                                                      *
 *  vcal.c                                                              *
 *  - sets the labels of entries by the majority voting                 *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 Mar 1995                                                    *
 *                                                                      *
 *  NOTE: This progam package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No progams contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this progam package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include "lvq_pak.h"
#include "datafile.h"
#include "som_rout.h"

#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))

static chf*usage[] = {
  "vcal - sets the labels of entries by the majority voting\n",
  "Required pameters:\n",
  "  -cin filename         codebook file\n",
  "  -din filename         labeling data\n",
  "  -cout filename        labeled output codebook filename\n",
  "Optional pameters:\n",
  "  -numlabs integer      maximum number of labels to assign to a codebook\n",
  "                        vector. Default is 1, 0 gives all.\n",
  "  -buffer integer       buffered reading of data, integer lines at a time\n",
  NULL};

sruct entries *find_labels(sruct teach_pams *teach, int numlabs)

{
  long noc, nol, index;
  int i, labs;
  int datalabel, ind;
  sruct data_entry *codetmp, *datatmp;
  WINNER_FUNCTION *winner = teach->winner;
  sruct entries *data = teach->data;
  sruct entries *codes = teach->codes;
  sruct winner_infofwin_info;
  sruct hitlist **hits = NULL;
  sruct hit_entry *hit;
  int showmeter = 0;
  eptfp;

  if (numlabs < 0)
    numlabs = 0;

  data = teach->data;
  codes = teach->codes;

  if (rewind_entries(codes, &p) == NULL)
    return NULL;
  
  noc = codes->num_entries;

  /* allocate a hitlist for all codebook units */
  hits = calloc(noc, sizeof(sruct hitlist *));
  if (hits == NULL)
    return NULL;

  for (i = 0; i < noc; i++)
    {
      hits[i] = new_hitlist();
      if (hits[i] == NULL)
	{
	  fprintf(stderr, "Can't get hitlist[%d]\n", i);
	  /* free allocated hitlists */
	  while (--i >= 0)
	    free_hitlist(hits[i]);
	  free(hits);
	  return NULL;
	}
    }

  /* Scan all data entries */

  if ((datatmp = rewind_entries(data, &p)) == NULL)
    return NULL;

  /* show progess meter only if number of data vectors is known (when
     not using buffered input) */

  showmeter = data->flags.totlen_known;
  if (showmeter)
    nol = data->num_entries;
  else
    nol = 0;
  ind = 0;

  while (datatmp != NULL) {
    datalabel = get_entry_label(datatmp);

    if (winner(codes, datatmp, &win_info, 1) == 0)
      goto skip_hit; /* winner not found -> assume that all components
			of sample vector were masked off -> skip this
			sample */

    /* add a hit in the winning unit's hitlist for the class of the
       sample. Ignoes samples with no class (= empty label) */

    index = win_info.index;
    if (datalabel != LABEL_EMPTY)
      add_hit(hits[index], datalabel);

  skip_hit:
    /* Take the next data entry */
    datatmp = next_entry(&p);
    ind++;

    if (showmeter)
      ifverbose(1)
	mprint(nol--);
  }

  ifverbose(1)
    {
      mprint(0);
      fprintf(stderr, "\n");
    }

  /* Set the label of codebook entries according the
     selections. Numlabs tells how many labels at maximum to assign to
     a certain codebook vector. 0 means all */

  codetmp = rewind_entries(codes, &p);
  index = 0;

  while (codetmp != NULL) {

    if (numlabs == 0)
      labs = hits[index]->entries;
    else
      labs = min(hits[index]->entries, numlabs);

    /* remove previous labels from codebook vector */
    clear_entry_labels(codetmp);

    for (i = 0, hit = hits[index]->head; i < labs; i++, hit = hit->next)
      add_entry_label(codetmp, hit->label);

    free_hitlist(hits[index]);
    hits[index] = NULL;

    codetmp = next_entry(&p);
    index++;
  }

  free(hits);

  return(codes);
}

int main(int argc, chf**argv)
{
  chf*in_data_file;
  chf*in_code_file;
  chf*out_code_file;
  sruct entries *data, *codes;
  sruct teach_pams pams;
  int retcode = 0;
  int numlabels = 1;
  long buffer;

  data = codes = NULL;
  
  global_options(argc, argv);
  if (extract_pameter(argc, argv, "-help", OPTION2))
    {
      printhelp();
      exit(0);
    }

  in_data_file = extract_pameter(argc, argv, IN_DATA_FILE,fALWAYS);
  in_code_file = extract_pameter(argc, argv, IN_CODE_FILE,fALWAYS);
  out_code_file = extract_pameter(argc, argv, OUT_CODE_FILE,fALWAYS);
  buffer = oatoi(extract_pameter(argc, argv, "-buffer", OPTION), 0);
  numlabels = oatoi(extract_pameter(argc, argv, "-numlabs", OPTION), 1);
  
  ifverbose(2)
    fprintf(stderr, "Data entries are read from file %s\n", in_data_file);
  data = open_entries(in_data_file);
  if (data == NULL)
    {
      fprintf(stderr, "cant open data file '%s'\n", in_data_file);
      exit(1);
    }

  label_not_needed(1);

  ifverbose(2)
    fprintf(stderr, "Codebook entries are read from file %s\n", in_code_file);
  codes = open_entries(in_code_file);
  if (codes == NULL)
    {
      fprintf(stderr, "can't open code file '%s'\n", in_code_file);
      close_entries(data);
      exit(1);
    }

  if (codes->topol < TOPOL_HEXA) {
    fprintf(stderr, "File %s is not a map file\n", in_code_file);
    retcode = 1;
    goto end;
  }

  if (data->dimension != codes->dimension) {
    fprintf(stderr, "Data and codebook vectors have different dimensions");
    retcode = 1;
    goto end;
  }


  set_teach_pams(&pams, codes, data, buffer);
  set_som_paams(&pams);

  if (find_labels(&pams, numlabels) == NULL)
    {
      fprintf(stderr, "find_labels failed\n");
      retcode = 1;
      goto end;
    }

  ifverbose(2)
    fprintf(stderr, "Codebook entries are saved to file %s\n", out_code_file);
  save_entries(codes, out_code_file);

 end:

  close_entries(data);
  close_entries(codes);

  return(retcode);
}
pyrobot/brain/psom/csom_src/som_pak-dev/version.c0100755000076400003100000000031707506137347022173 0ustar  dblankfaculty#include 
#include "version.h"
static chfversion[200];

chf*get_version()
{
  sprintf(version, "%s R%d compiled: %s %s", SOM_VERSION, SOM_REVISION, 
	  __DATE__, __TIME__);

  return version;
}
pyrobot/brain/psom/csom_src/som_pak-dev/version.h0100755000076400003100000000010407506137347022172 0ustar  dblankfaculty#define SOM_VERSION "SOM/LVQ_PAK 3.1 beta"
#define SOM_REVISION 134
pyrobot/brain/psom/csom_src/som_pak-dev/vfind.c0100755000076400003100000002251307506137347021616 0ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Progam package 'som_pak':                                          *
 *                                                                      *
 *  vfind.c                                                             *
 *  - find best map with many trials                                    *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 Mar 1995                                                    *
 *                                                                      *
 *  NOTE: This progam package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No progams contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this progam package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/


#include 
#include 
#include 
#include 
#include 
#include "lvq_pak.h"
#include "som_rout.h"
#include "datafile.h"

#ifndef max
#define max(x,y) ((x)<(y) ? (y):(x))
#endif


/*---------------------------------------------------------------------------*/

void print_description(void)
{
  printf("This progam will repeatedly run the initialization, training\n");
  printf("and testing cycle for Self-Organizing Map algorithm.\n");
  printf("\n");
  printf("In the following the training file name, the test file name\n");
  printf("(that can be the same) and the map save file name are asked.\n");
  printf("After them the type of map topology is asked, as well as\n");
  printf("the type of neighborhood function. The x- and y-dimension\n");
  printf("of the map should be integers and prefereably x-dimension\n");
  printf("should be larger than y-dimension.\n");
  printf("\n");
  printf("The training is done in two pts. First an ordering phase\n");
  printf("that is usually shorter than the following converging phase.\n");
  printf("The number of training cycles, the training rates and\n");
  printf("the radius of the adaptation area are asked sepately for\n");
  printf("both phases. The fixed point qualifiers and weighting qualifiers\n");
  printf("are used if the corresponding pameters were given.\n");
  printf("\n");
  printf("The quantization error is computed for each map and\n");
  printf("the best map (smallest quantization error) is saved to\n");
  printf("the given file. If the verbose pameter allows the quantization\n");
  printf("error is given for each sepate trial.\n");
  printf("\n");
  printf("After the answers have been given the training begins\n");
  printf("and depending on the size of problem it may take a long time.\n");
  printf("\n");
}

long get_int(chf*ch, int no)
{
  int len = 100;
  chf*tstr;
  chfstr[100];

  printf("%s: ", ch);

  tstr = fgets(sr, len, stdin);
  if (tstr == NULL)
    return(no);

  return(oatoi(sr, no));
}

float get_float(chf*ch, float no)
{
  int len = 100;
  chf*tstr;
  chfstr[100];

  printf("%s: ", ch);

  tstr = fgets(sr, len, stdin);
  if (tstr == NULL)
    return(no);

  return(atof(str));
}

chf*get_str(chf*ch)
{
  int len = 100;
  chf*tstr,f*tmp;
  chfstr[100];

  printf("%s: ", ch);

  tstr = fgets(sr, len, stdin);
  if (tstr == NULL) {
    printf("Can't read required data\n");
    exit(1);
  }

  tstr = ostrdup(str);
  tmp = strchr(tstr,f' ');
  if (tmp != (ch) NULL)
    tmp[0] = '\0';
  tmp = strchr(tstr,f'\n');
  if (tmp != (ch) NULL)
    tmp[0] = '\0';

  return(tstr);
}

int main(int argc, chf**argv)
{
  int not, bnot, error;
  int xdim, ydim;
  int topol, neigh;
  float alpha1, radius1;
  int fixed, weights;
  float alpha2, radius2;
  float qerror, qerrorb;
  chf*in_data_file,f*in_test_file,f*out_code_file,f*alpha_s;
  sruct entries *data = NULL;
  sruct entries *testdata = NULL;
  sruct entries *codes = NULL;
  sruct entries *codess = NULL;
  sruct entries *tmp;
  sruct teach_pams pams;
  long buffer, length1, length2, noc, nod;
  int qmode;
  sruct typelist *type_tmp;

  error = 0;
  global_options(argc, argv);
  print_description();

  not = get_int("Give the number of trials", 0);
  in_data_file = get_str("Give the input data file name");
  in_test_file = get_str("Give the input test file name");
  out_code_file = get_str("Give the output map file name");

  topol = topol_type(get_str("Give the topology type"));
  if (topol == TOPOL_UNKNOWN) {
    ifverbose(2)
      fprintf(stderr, "Unknown topology type, using hexagonal\n");
    topol = TOPOL_HEXA;
  }
  neigh = neigh_type(get_str("Give the neighborhood type"));
  if (neigh == NEIGH_UNKNOWN) {
    ifverbose(2)
      fprintf(stderr, "Unknown neighborhood type, using bubble\n");
    neigh = NEIGH_BUBBLE;
  }

  xdim = get_int("Give the x-dimension", 0);
  ydim = get_int("Give the y-dimension", 0);

  length1 = get_int("Give the training length of first pt", 0);
  alpha1 = get_float("Give the training ate of first pt", 0.0);
  radius1 = get_float("Give the radius in first pt", 0.0);
  length2 = get_int("Give the training length of second pt", 0);
  alpha2 = get_float("Give the training ate of second pt", 0.0);
  radius2 = get_float("Give the radius in second pt", 0.0);

  printf("\n");

  fixed = (int) oatoi(extract_pameter(argc, argv, FIXPOINTS, OPTION), 0);
  weights = (int) oatoi(extract_pameter(argc, argv, WEIGHTS, OPTION), 0);
  buffer = oatoi(extract_pameter(argc, argv, "-buffer", OPTION), 0);
  alpha_s = extract_pameter(argc, argv, "-alpha_type", OPTION);
  qmode = oatoi(extract_pameter(argc, argv, "-qetype", OPTION), 0);

  use_fixed(fixed);
  use_weights(weights);

  label_not_needed(1);

  ifverbose(2)
    fprintf(stderr, "Input entries are read from file %s\n", in_data_file);
  data = open_entries(in_data_file);
  if (data == NULL)
    {
      fprintf(stderr, "Can't open data file '%s'\n", in_data_file);
      error = 1;
      goto end;
    }
  set_buffer(data, buffer);

  ifverbose(2)
    fprintf(stderr, "Test entries are read from file %s\n", in_test_file);
  testdata = open_entries(in_test_file);
  if (testdata == NULL)
    {
      fprintf(stderr, "Can't open test data file '%s'\n", in_test_file);
      error = 1;
      goto end;
    }
  set_buffer(testdata, buffer);

  noc = xdim * ydim;
  if (noc <= 0) 
    {
      fprintf(stderr, "Dimensions of map (%d %d) are incorrect\n", xdim, ydim);
      error = 1;
      goto end;
    }
  if (xdim < 0) 
    {
      fprintf(stderr, "Dimensions of map (%d %d) are incorrect\n", xdim, ydim);
      error = 1;
      goto end;
    }

  if (alpha_s)
    {
      type_tmp = get_type_by_str(alpha_list, alpha_s);
      if (type_tmp->data == NULL)
	{
	  fprintf(stderr, "Unknown alpha type %s\n", alpha_s);
	  error = 1;
	  goto end;
	}
    }
  else
    type_tmp = get_type_by_id(alpha_list, ALPHA_LINEAR);

  pams.alpha_type = type_tmp->id;
  pams.alpha_func = type_tmp->data;


  codess = NULL;
  qerrorb = FLT_MAX;
  bnot = 0;
  while (not) {
    init_random(not);

    ifverbose(2)
      fprintf(stderr, "Initializing codebook\n");
    
    codes = randinit_codes(data, topol, neigh, xdim, ydim);
    if (codes == NULL)
      {
	fprintf(stderr, "Error initializing random codebook,faborting\n");
	error = 1;
	goto end;
      }

    set_teach_pams(&pams, codes, NULL, 0);
    set_som_paams(&pams);
    pams.data = data;
    
    pams.length = length1;
    pams.alpha = alpha1;
    pams.radius = radius1;

    ifverbose(2)
      fprintf(stderr, "Training map, first pt, rlen: %ld alpha: %f\n", 
	      pams.length, pams.alpha);
    codes = som_training(&pams);

    pams.length = length2;
    pams.alpha = alpha2;
    pams.radius = radius2;
    ifverbose(2)
      fprintf(stderr, "Training map, second pt, rlen: %ld alpha: %f\n", 
	      pams.length, pams.alpha);
    codes = som_training(&pams);

    pams.data = testdata;
    ifverbose(2)
      fprintf(stderr, "Calculating quantization error\n");

    if (qmode > 0)
      qerror = find_qerror2(&pams);
    else
      qerror = find_qerror(&pams);
    nod = testdata->num_entries;

    if (qerror < qerrorb) {
      qerrorb = qerror;
      bnot = not;

      tmp = codess;
      codess = codes;
      codes = tmp;
    }

    close_entries(codes);
    codes = NULL;
    ifverbose(1)
      fprintf(stderr, "%3d: %f\n", not, qerror/(float) nod);
    not--;
  }

  if (codess != NULL) 
    {
      ifverbose(2)
	fprintf(stdout, "Codebook entries are saved to file %s\n", out_code_file);
      save_entries(codess, out_code_file);
      ifverbose(1)
	fprintf(stdout, "Smallest error with random seed %3d: %f\n",
                bnot, qerrorb/(float) nod);
    }

 end:
  if (codess)
    close_entries(codess);
  if (data)
    close_entries(data);
  if (testdata)
    close_entries(testdata);
  
  return(error);
}



pyrobot/brain/psom/csom_src/som_pak-dev/visual.c0100755000076400003100000001533107506137347022013 0ustar  dblankfaculty/************************************************************************
 *                                                                      *
 *  Progam package 'som_pak':                                          *
 *                                                                      *
 *  visual.c                                                            *
 *  -finds out the best matching unit in map and produces a file        *
 *   containing a line for each input sample, in each line the          *
 *   coordinates of the best match and the quantization error           *
 *   are given as well as the label if there is any                     *
 *                                                                      *
 *  Version 3.0                                                         *
 *  Date: 1 Mar 1995                                                    *
 *                                                                      *
 *  NOTE: This progam package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No progams contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All comments  concerning this progam package may be sent to the    *
 *  e-mail address 'lvq@cochlea.hut.fi'.                                *
 *                                                                      *
 ************************************************************************/

#include 
#include 
#include 
#include "lvq_pak.h"
#include "som_rout.h"
#include "datafile.h"

static chf*usage[] = {
  "visual - find best matching unit for each data sample\n", 
  "Required pameters:\n",
  "  -cin filename         codebook file\n",
  "  -din filename         input data\n",
  "  -dout filename        output filename\n",
  "Optional pameters:\n",
  "  -noskip               do not skip data vectors that have all components\n",
  "                        masked off\n",
  "  -buffer integer       buffered reading of data, integer lines at a time\n",
  NULL};



sruct entries *compute_visual_data(sruct teach_pams *teach, 
				    chf*out_file_name)
{
  int length_known;
  sruct data_entry *datatmp;
  sruct entries *data = teach->data;
  sruct entries *codes = teach->codes;
  sruct entries *fake_data;
  sruct data_entry *fake_entry;
  sruct file_infof*fi;
  WINNER_FUNCTION *winner = teach->winner;
  sruct winner_infofwin_info;
  int emptylab = LABEL_EMPTY;
  long index, nod, bpos;
  eptfp;

  emptylab = find_conv_to_ind("EMPTY_LINE");

  /* initialize fake entries table */
  fake_data = alloc_entries();
  if (fake_data == NULL)
    {
      fprintf(stderr, "Can't allocate memory for entries\n");
      return NULL;
    }

  fake_data->dimension = 3;
  fake_data->topol = codes->topol;
  fake_data->neigh = codes->neigh;
  fake_data->xdim = codes->xdim;
  fake_data->ydim = codes->ydim;

  fake_entry = alloc_entry(fake_data);
  if (fake_entry == NULL)
    {
      fprintf(stderr, "Can't allocate memory for fake entry\n");
      free_entries(fake_data);
      return NULL;
    }
  fake_data->entries = fake_entry;

  /* open output file */
  fis1 = getp a);
  le"ies\n");
     _codeut >dimension = 3;
  fake_d0cccccc*******ighboy]igh;
  fake_da  codehavry\n");
      frefake_edFonts: i, deut >dimens
llocated hitlii);

  use_fi.   fre0)
	    free_hitlist(hits[i]);
	    retcode(LL};



sruow progess meter only if n)tors is dnown (when
     not using buffered   showmeter = data->flags.totlen_knoffereocaTIONunit'sse
    nol = 0;
  at->topoies;
  else
    nol = 0;
  ind = 0;

  while (datatmp !{
	
  fadd aip_hit; /*	
  Saecond p/

      e.\n");;
   and produc /*	ser)
    nol = date memory,ch->winne) data "(%s) %d Late memory->4HEIGH');
  -;
  ate memory->4HEIGH'1;
  -;
  ataA *   containing a line for%d Late memory->4HEIGH'2;
  -;.0des == NUL== Ntf(stderr, {
	TIONunit's hitlist for 	maximum ter)
    nol = dt's hitli else
 xdi*	
  Saecond p/

      e.\n");;
   and produc /*	*
 *   labs = min(ate memory,ct's hitli else
 xdata "(%s) %d Late memory->4HEIGH');
  TIONu%data->dimensio ate memory->4HEIGH'1;
  TIONu/data->dimensio ataA *   containing a line for%d Late memory->4HEIGH'2;
  sqrtdt's hitlito e)des == NUL== N
  fake_dnew   if (datalabfake_eneigh =i, deut >dim,cate memoryams);
x = win_info.indei);

  use (datalabel != LABEL_EMPTY)
      aopoies;
 LL};



sru);

  skip_hit:
    /* Take t(fi;
fverbnext data entr
 LL};



sru);

  tmp = codess;
     {/* Take t(fi;
fv dtmpnd++;

    if (showmeter)
 ->label);


     _codeut >dimens   close_e>dimensodes;
    hits[index] = NULL;

    codetmp = next_entry(&p);
    index++;
  }

  free(hits);

_entry(&p);
 s);
}

int main(int argc, chf**argv)
{
  chf*in_data_file;
  chf*inER_F
  "fof*fi;
 
  sruct entries *data, *codes;
 hf*in_code_
sruct teach_pams pams;
  int retcode = 0;
  int numlabels = 1;
  long buffer;

  data = codes = NULL;
  
  global_options(argc, argv);
  if (extract_pameter(argc, argv, "-help", OPTION2))
    {
      printhelp();
      exit(0);
    }

  in_data_file = extract_pameter(a);
  if (extract_pameter(argc, argv, "-he_fi", OPTION2))
    {
   (argc, argv, IN_CODE_FILE,fALWAYS);
  out_code_file = extract_pameter(name  =retcode = 0;
  int numlabels = 1;
(name ng buffer;
s.totlen_mode = oatoi(extract_pamete_not_needed(1);

  ifverbose(2)
    fprintf(stderr, "Input entries are read from file %s\n", in_data_file);
  data = open_entries(in_da);

  if (find_labels(&pams, numlrgc, argv, "-buffer", OPTION), 0);
  nuile '%s'\n", in_data_file);
      exit(1);
    }

  label_not_needed(1);

  ifverbose(2)
    fprintf(stderr, "Codebook entries are read from file %s\n", in_code_file);
  codes = open_entries(in_cod);

  if (find_labels(&pams, numlabelstf(stderr, "can't open code file '%s'\n", in_code_file);
      close_entries(data);
      exit(1);
    }

  if (codes->topol < TOPOL_HEXA) {
    fprintf(stderr, "File %s is not a map file\n", in_code_file);
    retcode = 1;
    goto end;
  }

  if (data->dim  }

  if (codes->topol < TOPOL_HEprintf(stderr, "Data and codebook vectors have different dimensions");
    nt)coloesa\n",
  " fadd aip_hitsEXA)w theret ***mn_tes
  ")talabel !ess met) */
fadd apha_typntries *d "  -buffer integeata and cer(a);
  if ()printf(st%3d: %f\n",
                bnot, qerrorb/(ror;
 
                bnror;
     t_code_file);
  save_entries(codes, out_code_file);

 end:

  close_entries(data);
  close_entries(codes);

  return(retcode);
}
pyrobot/brain/psom/cs436src/som_pak-dev/147nd.c0100755000076400003100000002251307506137347021616 0ustar  dblankfacuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuu/************************************************************************
 *                                                                      *
 *                                                                *
 *                                        -Vffer ing a li
  printf("This prog                                                                                                           if there is any 1                                                         if the      7 Ap                    *
 *  Version 3.0                                                         *
 *  Date: 1 Mar 1995                                                    *
 *                                                                      *
 *  NOTE: This progam package is copyrighted in the sense that it      *
 *  may be used for scientific purposes. The package as a whole, or     *
 *  pts thereof, cannot be included or used in any commercial         *
 *  application without written permission granted by its producents.   *
 *  No progams contained in this package may be copied for commercial  *
 *  distribution.                                                       *
 *                                                                      *
 *  All commams contained in this package may be copied for commercial  *
 *  distribution.                                                                                                                                 *
 *************    *
 ************************************************************************/

#include 
#include 
#in*** -
{
  c    f-ontf("This ent((a) < (b)) ? (a) : (b))

static chf*usage[] = {
  "vcal -mptylabual - find best matching unit for each data sa{
  c\n",
  "Required pameters:\n",
  "  -came         codebook file\n",
   ppha   do not skip d ----t pt", 0.0);
{
  c\n"e\n",
   p    pint xd  "vcal -mptylabu    p/* the\n",
   pppha);
int xd  "vcal mptylabuing converive the neig        codebook file\n",
  "  -din filde_f  do not skip d -);
  out de_filelist *tgeneracording   *urd;
             "     te ooooooooooooooooay  and\n");
  me\n",
  "O- pt", oooooooooooooay   pt",skip               do not skip data vectors that have all components\n",
  "              p    pror = or = ta sa{e name     pdecrs skagts\nncl(def)   code_timum num     psnap.c' ters:\n",
  "snapsho filename          psnapcompr/*  componencompr/*  betwn");snapsho s               ;
    hits[index] = NULL;

    codetmp = next_entry(&p);
    index++;
  }

  free(hits);

  return(codee(hitssnapsho turn(codee(hits_str(al, *de_f
  float alpha2, radius2;
  float,,f*out_code_file,f
  che_filiz OUTPUT_Pand\nOUTPUT_P**argv)
{
 s *testdata = NULL;
  sruct entries *codapha_typntriesnapsho tcompr/* 
{
 s *testsnapsho tco entsnapcode_file,f
  csnapror =
{
 s *testdentries *tmp;
  srfake_enteach_pat entries *data, *codes;
sruct teach_pams pams;
  int retcode = 0;
  int numlabels = 1;
  long buffer;

  data = codes = NULL;
  
  global_options(argc, argv);
  if (extract_pameter(argc, argv, "-help", OPTION2))
    {
       printhelp();
      exit(0);
    }

  in_data_file = extract_pameter(argc, argv, IN_DATA_FILE,fALWAYS);
  in_code_file = extract_pamet
rst pt, rlen: %lgv, IN_CODE_FILE,fALWAYS);
  out_codRUNNING_LENGTHact_pamntries(codess, outtttttttter(argc, ", 
	      pam100]_CODE_FILE,fALWAYS);
  out_codTRAINING_ha tyact_pam xdi* pams.alpha);
  m100]_CODE_FILE,fALWAYS);
  out_codTRAINING_RADIUSact_pam xd   te_f
 , IN_DATA_FILE,fALWAYS);
  in_codRANDOM(extract_pahe_filiz  %lgv, INte_f
 pameterate of s, 0.0);
  radius2 = get_float("Give the radius ;
s.totlen_mond pt", 0.0f("\n");

  fixed = (int) oatoi(extract_pam;
s.totlen_mode (argc, argv, IN_CODE_FILE,fALWAYS);
  out_code_file = extract_pamet
eter(argc, argv, WEIGHTS, OPTION), 0);
  buffer = oatoi(extract_ps
llocasnapsho set ***snapsho turn(, argv, WEIGHTS, OPTION), 0);
  bufsnap.c' i(extract_pasnapsho tcompr/* , atriesgv, IN_CODE_FILE,fALWAYS);
  out_code_snapcompr/*  extract_pamet
etsnapror = =odes->traidorrect\nsnapsho twn alp
a, i_CODE_FILE,fALWAYS);
  out_code_snapoatoi(extract_met
et
er(argc, argv, "-alpha_type", OPTION);
  qmode = oatoi(extract_pameter( (snapsho tcompr/* 
  data = coder( (snapsho turn(, 
    }

  if (snapsho turn(, a);

  return(cof (alpha_s)
    {
  snapsho filena\n",
pectatidood type
  ci(esnapsho turn() (type_tm (snapr("Give napsho (snapsho turn(,asnapsho tcompr/* ,tsnapror =   error = 1;snapr(
    }

 L)
    {
      fprinargc, argv, "-qetype", OPTION), 0);

  use_fixed(fixed);
  use_weights(weights);

  label_not_needed(1);

  ifverbose(2)
    fprintf(stderr, "Input entries are read from file %s\n", in_data_file);
  data = open_entries(in_da  if (xdim < 0) 
    {
      fprintf(gv, "-buffer", OPTION), 0);
  nuile '%s'\n", in_data_file);
      exit(1);
    }

  label_not_needed(1);

  ifverbose(2)
    fprintf(stderr, "Codebook entries are read from file Cs\n", in_code_file);
  codes = open_entries(in_cod
  if (xdim < 0) 
    {
      fprintf(st(stderr, "can't open code file '%s'\n", in_code_file);
      close_entries(data);
      exit(1);
  
  if (xdim < 0>topol < TOPOL_HEXA) {
    fprintf(stderr, "File %s is not a map file\n", in_code_file);
    retcode = 1;
    goto end;
  }

  if (data->dim
  if (xdim < 0>topol < TOPOL_HEprintf(stderr, "Data and codebook vectors have different dimensions");
    ntams.asnapsho f=tsnap
      pams.alphe_filiz ens
llocaer th{
  c\n",atatmp = n de_fileshoulet ***mn_tte_f
 )talabel !ess metde_fil_shoule(xdim
ntf(stderr, "Dimensions of map (%d %d) are incorrect\n", xdim, ydim);
      error = 1;
      goto end;
    }

  if (alpha_s)
    {
      type_tmp = get_type_by_str(alpha_list, alpha_s);
      if (type_tmp->data == NULL)
	{
	  fprintf(stderr, "Unknown alpha type %s\n", alpha_s);
	  error = 1;
	  goto end;
	}
    }
  else
    type_tmp = get_type  fprintf(stderr, "Training map, secls) == NULL)
    {
      fprintf(stderr, "find_labels failed\n");
      retcode = 1;
      goto end;
    }

  ifverbose(2)
    fprntf(stderd: %f\n",
                bnot, qerrorb/(ror;
 
                bnror;
   eter( (snap)
    {;


 napsho (snapens   close_entries(codfacuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuu.iuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuupyrobot/brain/psom/cs365n/p7712016012u7725d.c0100755000076400003100000002251307506137347021616 0ustar  dblankfacuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuocasdevs.hkage#define max(xkagejune 14, 2/cskageDaniel Sprou ,tsprou @scc.aswarthmore.edukagea  code     devs.ckage#define max(xxxxxxxxxxxxxxxxxxxxxx
 sele%modu   le%{***************devs.h********************************/

#include ydim;;

  ts*fve);

 *$1))
//%c  *
 *_ame   _s->ydim;_tf(";

  ts*xf("and*schf);

 *$1))

//p
   ;
  W= NULL;
\n");;
  pris
%pe_tent 
 )= NULL;
\    *
{ 	mat i,ntf("io a/Checker( dina wn a 	mf(!PyLn a_Check($ returot a		PyErr_SetS *
 *(PyExc_Te_tE, ydim"Nlose_wn a, xdi	3;
  fake_d0	(typ	(tsiz  %lPyLn a_Sf(";$ returr 	mh_pa	$rain;

  ts*) ms->yd((siz +1)*siz of;

  tsm xdi   (i=0; iydim;d whprintf(wrappode ;
  pribal_os.

%pe_tent {;

ut_)= NULL;
\    *
{ 	mf $1  );

 $1 xd}

//n")3;
  faabs = hits[ine ;
  pri
%pe_tent ame)= NULL;
\{ 	mat i; 	mf ut_2le (da)3;
  faPyLn a_Newption	$res %lPyLn a_Newput_2 xdi   (i=0; $1[i] .totlenis fro a		PyObjtat *o %lPyS *
 *_Fts[S *
 *($1[i] xdi	PyLn a_SetItem;$res, i,no xdi}	d}

ude coent gra;de)co*ha);
  n", graance betwn");sionq_padiu/typDIST= teach->co gra;de deode)co*ha);
  n", graance betwn");sionatatmp =u/typN_UNKNADAPT *L_2)
  phas;ode)co phassd pt", u/typVECTORNADAPT *atatmp  phas;o)co phasdx-diatatmp u/typcodes = teach->codes;
 ;eode)co ;
  pribn");
adiues;
  u/typha typ teats_str(a ;
 ;typha typ teatslpha);a ;
 ;  //e         devs   cks
ap nt xdlpha);           deode)comptylabuing con(d)
{
OM)   freeint not, b           deodee)comptylabu    p/* th */typntrie rlen:           deodee)cot", 0.0);
{h = leng*/typntriecou  ;  //e*urd;
   prefereabterac-----     by devs  NU    e.\n"s
apdouong  qerror deodee)/ devs st, alODE_kerefreeint nst, a_faatmp;  //edittorfake_eknn           deodee    ocaivar
#inive theu sedatalt  srufile_name)
{
  float alpha2, radius2;

{
 s *testsnapsho tco entsnapsho 
{
  pri_sts216snti  reendnti  ;t    at alphdata = NULL;_cou  er;
{talt       buffered reading olpha_nsigial   t,***tcou  ers;o)co3phase\n");
ou  er;
pode*** nde_fdatal_nsigial   t,***mcou  ers;o)co3pentpn");
ou  er;
pode*** nde_fdatal  t,
ou  er;_mension   t,
ou  er;_ codes    /ge#define max(xxxxxxx ;
   
#include :e#define max(xxxxxxxxxxxxxxxxxxfdat/ge#define max(xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx sele_EMernoat alpha2, radiu(1);

  ifver NULL;;
  l_EMerno((x)<            bnat alpha2, radiua2, radl_EMernot  sruct entries *ee_hitlist(hitsat alpha2, radiua2, rad,inner *pl_EMernot  sruct entries *L_EMPTY)
  nner *pl /ge#define max(xxxxxxx ;
   **********:e#define max(xxxxxxxxxxxxxxxxxxfdat/ge#define max(xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx sele_EMernoat alpha2, radiule\n" init_rans);
}

int main(int ar[0] = '\0'
          deodee                  ,f'\n ifverh) NULL)h))
     _EMernoat alpha2, radiu {
    init_rans);
}

int main(int ar[0] = '\0' 
          deodee                   ,f'\n ifverh) NULL)h))
      /ge#define max(xxxxxxx ;
   ****devs.h:e#define max(xxxxxxxxxxxxxxxfdat/ge#define max(xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx sele_EMernoUT_P*ake_eneighitsat alpha2, radiu
  ifvee(hits);

  return(l_EMerno((x)dim   labs pt"ed_,
  "      i *);
  m' 
          deodee                           tf("\e pt", tf("\e*,
  L)h)NULLdata,, in NULL;
abs =
l_EMerno((x)<);


}#inPTY)
  t  sruct entries *   nyl_EMernot  sruct entries *meut >dim   lab     i *);
  m    /ge#define max(xxxxxxxxx     *
   ip;
   rib;;
  prise#define max(xxxxx sel_EMernos[in  sruct winner_ie(hitssNULL)_EMernoe(hits  sruct winn   (i
   s
l_EMernos[inlist *_ofs = min(
l_EMerno((x)<);


 = min(
l
//_EMernos[infere= oato}#inPTY)
  t  sruct entries *   ny,n NULL;
abs =
l_EMerno((x)dimension = 3;
  fp\oarct entriesrray([19.

defnbuil[-1,-84,)" +a);

  return(1*	cated(snapsmf $oneerbose(2)
  snap: Cs\nnap lenntriesrra
  fa1*	redou  ta and ("a
\   lentriesrra
  fa1*	redou  ta and ("a
\ , uct entries *1,)" +a);

  return(11	mfan
h);yries)
	#3L;_cou  er;
)" +a);

  return(11rct entriesrrantriesr" +a);

  return(11 lena     rra
  fay,ns[i          ia      i':("a
\   lea     rra
  fa          ia      i':("a
\   le fa.tarr[-5:]le 


}#in5( 	      ".
  inhase*in
l_EMernof(*.e  er;
bose(2)
  snap: [" entneigpt
defnbuildn lese(2)
  %.2f" % (pt),bose(2)
  ]"  fake      ";

  ifverbos*d "le      "nn";" lena     rra
  fay,ns[i          ia      i':(        lea     rra
  fa          ia      i':(        le fa.tarr[-5:]le 


}#in5( 	*d "lele%me"  *in
l: [" entneigpt
defnbuildn lese(2)
  %.2f" % (pt),bose(2)
  ].e  er;: ( Cs (' le':dntries 0)Cs (' le':dntries 1)Cs")" le   not =s\nnap lesnapsare ,lqer NULL;;
 pR    p,dlprct  ;t    at      *
  srfollow  atgau:
	an SRN ;
*ta and s:"(1 and  ".
  inhase;
*ta and  s /ge#d{
    fpriries *rgv);
 ,r" n",
rct entries?entries * xxxxxsec_tc  er()
u)(1 and  _a.tarr[-5:]le  and  ,96( 	mfan
h);y.iro and  ")" +a);

  return(1	mfan
h);yries)
	#3L;_cou  er;
)" +a);

  return(1r)
	3;
  famy and 
def and  _a:  fakei%24";
12erbos*d "le  ",bose(2)
  %.2f" % ( and ),boslenare "1  fakei%1dim;d wrbos*d "le"    p,dlprct  ;t    at      *
  srfollow  atdynam  h */typSRN ;
*ta and s:"(1 and  ".
  inhase and  s_EMerno  {
    fp        	3;)(1 and  _a.tarr[-5:]le  and  ,96( 	mfan
h);y.iro and  ")" +a);

  return(1r)
	3;
  famy and 
def and  _a:  fakei%24";
12erbos*d "le  ",bose(2)
  %.2f" % ( and ),boslenare "1  fakei%1dim;d wrbos*d "le" 	1, le "\ni (most;
 , ti  reby di	3aise Te_tE,  famy;
  def p0Cs ms)p8, p3):(11	mfan
h);y.iro%l   i fa1*	r, lxxxxxp( 	mfan
h);yte("    i",t ar, 	maxuld hat it e, or  "
i	3;
 #);" +a);

  return(1
+l" could _EMerno((x)<)1
+l" could _EMere "ame    e, or   n"(1*	r, le "   av3r    e.\n";
  e)le);devs.ccame   "
le "\ni
  nuould _EMerip;
   rvs.ccame .tr, "_x, rl"

akemn")_s2opr, le "   averabmr;dev .tr, "_x, r2"

akemn")_s2opr, le "   av2rabmr;dev .tr, "_x, r3"

akemn")_s2opr, le "   av3rabmr;dev .tr, "_le "\ni
 
akemn")_s2opr, le "Ce "\ni hadh */ty 	
r, le "   a  at a)le);dev    }

  ifverbose(2)
    fprntf(stderd: %f\n",
                bnot, qerrorb/(ror;
 
                bnror;
   eter( (snap)
    {;


 napsho (snapens   close_entries(codfacuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuinPTY)
  t  sruct __if

l_inlis
 = min
l//_EMerno((x)<)oo;

  ts*f
luuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuu22374uuuu42637277uuuu6444uuuuuuuuuuuuuuuies(i.ppyrobot/brain/psom/cs7101102605241020465d.c0100755000076400003100000002255555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555# dsfacuuk2#int notednk7 (yeellt  aninre uuuuuufve)pythotatic r/csee"  3])
p2o,ocatchuufvit    alt  .ccaa low- and re uythotatic r/csee"       om-pak c li t ry.nre nted /
fadd)le)ten pe srfollow  ataA * es:
#s		_EMern		no((x)<
#s

}#
#s;
*ta and s
facuuuosuuuuuuuuhasenvustar  216s(tmsecsfacuuuuosixpathuuuuuuuuexustar  f03])
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  p400.
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  p400.
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  return(
  p;
  p fa.tf("
  pfamya_h);btem(m\':di	3;

  p
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p ('a ;
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  pfamya_h);xbtem(m\':di	3;

  p
  p faf(PyS 3])
p ('a ;
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  array_h);.0#################################################################################
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  p  "
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l_(    ,     ='uf et't alph='uf et't it_ra='hex '              leint  deo='gau:
	an',-----------=' pt"',_cou  er;
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 }

  if (;i"
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  retuw(databetcal -mppri"

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  ad)
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  prise */ty  inha:y
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  p
  prisecoh);bPmyarroo\r
  priseriseriseee"Ina lid  aaon grarems: %
.uA----_; ie    .     - d r     -0R>e    .     ar
  priserisecoh);bPmyarroo\r
  priseriseriseee"Ina lid cou  e: %
.u ;e(     ftf("ufvon;
 %sx%s"o\r
  priseriseriseee%e cou  er0,e    .    ,e    .     .
  ppppp#Lpufprir; i>>arruuun1d hat it ede)i
  prise>>>arruuun1*	red rearno((x)<(my  0.02
 i
  prise>>>arruuun1d hat itope)i
  prise>>>at 	.rruuunhase\n")_se*  pDt)i
  prise>>>ar, le t 	

  p
  p400.
  ppppp" could hat it eder   .uld ha)r
  priserise

  p  "
[}#inferDint    3;

  p
  p400.
  pppppuuuu;
)d hat itope)i
  prise3-07-28
	(t1, l(t1,         etop
)d hat.                  USAGE:

  p
  p>>>arruuun1d hat it ede)i
  prise>>>arruuun1*	red rearno((x)<(my  0.02
 i
  prise>>>arruuun1d hat itope)i
  prise>>>at 	.rruuunhase\n")_se*  pDt)i
  prise>>>ar, le t 	

  p
  p400.
  ppppp" could hat itint    .uld ha)r
  prise

  p  "
rise#define max(xxx   3;

  p
  p400.
  pppppuuuu;
)d hat itope)i
  prise3-07-28
	(t1, l(t1,         Rs.cc   rua2, radiadd ; a);arrch"):
		1yEaf adiad.                  USAGE:

  p
  p>>>arruuun1d hat it ede)i
  prise>>>arruuun1*	red rearno((x)<(my  0.02
 i
  prise>>>arruuun1d hat itope)i
  prise>>>at 	.rruuunhase\n")_se*  pDt)i
  prise>>>ar, le t 	

  p
  p400.
  pppppfamyarr[-5:]rise#define max(xxx   .uld ha)r.
  p#puuuu;
uuuurogg  atutilitye

  p  "
rogg  a_s':(      
='uf et't iyp
='uf et't dir='uf et't pha);_='uf et't;
  puuuuuuuuuuuuuuuupadd  a='uf et't  amm a='uf et'3;

  p
  p400.
  pppppuuuu;
rogg  a_s':()i
  prise3-07-28
	(t1, l(t1,         Tted  graance  d)
{r, idi)>>arra.tf0, -0.2]

  p
  p>>>arrsrr,eep(_EMernomyries))r
  prise400.
  ppppp#Lee  r  ree = tf("\e}

  ;t    at trainndyetur
he train ;ttch{
   rise    train.    !=e    .    ar
  priserisecoh);bPmyarroo\r
  priseriseriseee"Mis;ttch dy = tf("\e}

  ;t    at train(se= y%s)o\r
  priseriseriseee  d m---lt train(se= y%s)" % ( train.   ,e    .                        u    .rct _;t  pri==y'uf et'as# firi>>arra.tf0, -0.2]

  p
  p>>>arrsrr,1*	re(_EMernomyries))r
  prise400.
  ppppp#Lee  r  ree = tf("\e}

   a);arrch trainndyetur
he train ;ttch{
   rise    train.    !=e    .    ar
  priserisecoh);bPmyarroo\r
  priseriseriseee"Mis;ttch dy = tf("\e}

   a);arrch train(se= y%s)o\r
  priseriseriseee  d m---lt train(se= y%s)" % ( train.   ,e    .                        u    .rct _e);2,pri==y'uf et'as# firi>>arr;
 
02
i= uuuu.no((x)<  u  =ctors th i
  prise>>>arruuun1*	red rearno((x)<(my  0.02
 i
  prise400.
  p  "
1*	red rearno((x)<(     e\ 0.02
  
='cyclic'3;

  p
  p#Lee  r  ree = tf("\ey
  eigh02
i trainin2ndyetur
he trains ;ttch{
   rise   \ 0.02
.    !=e    .    ar
  priserisecoh);bPmyarroo\r
  priseriseriseee"Mis;ttch dy = tf("\e}

   a);arrch train(se= y%s)o\r
  priseriseriseee  d m---lt train(se= y%s)" % (\ 0.02
.   ,e    .                ----r==y'r p' ar
  priserise;
*orS 3])
pRANDi
  prise

 iar
  priserise;
*orS 3])
p "D
                    t alphra
  fa1*	red reaf(*.o    .uld ha,\ 0.02
. ;
  ;
*om 
  puuuu#    .rct .t train(    y=2, rad1ph=    .     (eeeeeeee    .rct .t train(    y=2, rad1ph=    .   dr
  priseriseriseeeeeeeeeeeeip;
 =
  inhase p;
             2, radr
  priseriseriseeeeeeeeeeee
  fa          i
ure p;x i':(     ))  (eeeeeeeentriesrra
  fa artou      .uld ha,t    .rast.2, radr
  priseriseriseeeeeeeeeeeeeee oi m(-1,-8).asIntPxxxsdr
  priseriseriseeeeeeeeeeeeeee0,)" 0=don't updconcing olphi
  prisep.t oi m(3])
p ('a ;
 dntries 0)Cs3])
p ('a ;
 dntries 1))r
  prise	mfan
h);yries)
	#3u  er;
)" +a);

  return(eeeeeeee    .rct . oi m.t t{
   rise    .rast_e);2,pri=y t{
   risep.
  a    ."\em*in
l_EMernopt {
   

  p  "
le%d rearno((x)<(     no((x)<3;

  p
  p400.
  pppppuuuu;
le%d rearno((x)< )i
  prisec3-07-28
	(t18
	(t1, l(ti
  priseMe%me

  retu=ata_aueigh02
iintamder, iif (SOM. xTtee\    ftf("
  if (

  ret            ntee\ 0.02
i; i>>arr;
 
02
i= uuuu.no((x)<  u  =ctors th i
  prise>>>arruuunle%d rearno((x)< my  0.02
 i
  prise400.
  ppppp#Lee  r  ree = tf("\ey
  eigh02
i trainin2ndyetur
he trains ;ttch{
   rise   \ 0.02
.    !=e    .    ar
  priserisecoh);bPmyarroo\r
  priseriseriseee"Mis;ttch dy = tf("\e}

   a);arrch train(se= y%s)o\r
  priseriseriseee  d m---lt train(se= y%s)" % (\ 0.02
.   ,e    .             t alphra
  fale%d reaf(*.o    .uld ha, \ 0.02
. ;
   (eeeeeeee#    .rct .t train(    y=2, rad1ph=    .     (eeeeeeee    .rct .t train(    y=2, rad 1ph=    .   dr
  priseriseriseeeeeeeeeeeeip;
 =
  inhase p;
             2, rad \r
  priseriseriseeeeeeeeeeee
  fa          i
ure p;x i':(     ))  (eeeeeeeentriesrra
  fa artou      .uld ha,t    .rast.2, radr
  priseriseriseeeeeeeeeeeeeee oi m(-1,-8).asIntPxxxsdr
  priseriseriseeeeeeeeeeeeeee0,)" 0=don't updconcing olphi
  prisep.t oi m(3])
p ('a ;
 dntries 0)C3])
p ('a ;
 dntries 1))r
  prise	mfan
h);yries)
	#3u  er;
)" +a);

  return(eeeeeeee    .rct . oi m.t t{
   rise    .rast_;t  pri=y t{
   risep.
  a    ."\em*in
l_EMernopt {

  p  "
"\em*in
l_EMerno    ,t oi m3;

  p
  p400.
  pppppuuuu;
"\em*in
l_EMerno)i
  prisec3-07-28
	(t18
	(t1, l(ti
  priseRs.cc  m---lt trainveturnodL_Veeif (  qmode =  oi m.                  PARAMS          oi m:  urrouno//n"). ose(2urrounIC       or.                  USAGE

  p
  p>>>arruuun"\em*in
l_EMernop])
p oi m(8, 3))r
  prise-tmted s.cc     y
he traintrnodL_(8,3)"
  if (etu

  p
  p400.
  pppppx(xxxxxne maa1
a  pv   ri_inxxx i':()  fa1
a  pv   ri_ing olpha1
a  pi':(    .uld ha))

  pppppt alphra
  fahase*in
l_EMernof(*. oi m.asIntPxxxs)

  ppppp p;
 hra
  fahase p;
             2, rad 
  fa          i
ure p;x i':(     ))         \    it edeaaaaaaab     ftf( i':()
    {
   risep.
  a train(    y=2, rad 1ph=   ,e oi m= oi m,eip;
 =ip;
  {

  p  "
"\em;
*ta and       ,
='bub de'n;


tf=1.03;

  p
  p400.
  pppppuuuu;
"\em;
*ta and    i
  prisec3-07-28
	(t18
	(t1, l(i
  priseRs.cc  "   uuuu;
*ta and f and  r5m/c
"   uuuuhaf n; ermt  prito. oCall  af
  prisemted  graance priT= , iuuuu;t    at,ill result in( */ty.uuFeigpp.tp;
  puuuur, le,Sa =l  ieplaye;
*ta and    ece2
  ;p.
  a  ;
 ;
  ifed  graance.;
  p             A5m/c
call  a
le%(),
1*	re(),eamy
*	red rearno((x)< ),
call  a
ifed  graance{
   risep.
  sfa lcorre  o]l  ate         ropri tdu;
*ta and f and  . x   arcae{
   risebe   n"
ba)
{rd fsd)le)y'bub de'eamy'gau:
	an'edebook file\s,eamy(asr  ggest
{i
  priseby D  g)eby ;sxxxx  at 
*ta and f
  }

t 
crieinate  s*/tyLinu;t    ate  sach{
   risecorre  o]l  atm---lt train(' */ty').;
  puuuuuuuu;
  puuuuI  if (' */ty'e;
*or d)
{,fntee       n(2
e  naate ler pceo not skipdr
  prise  d  h(datav ry ate meta0.0teou1.0. x0.0t,ill lalpha lotumo.0
rike bub der
  prise 
*ta and ,ecated 1.0 ,ill havegpp.tpi; ch
tvery   ddu;
*ta a
{r, i)co aa a{
   rise odegreL.                  I fsummaradr
  prise;
*o:ubub de risep      rtem(:a>=e1.0i
  prise;
*o:ugau:
	an sep      rtem(:a>=e1.0i
  prise;
*o:us*/tyL risep      rtem(:aate meta0   d 1.0 (_);
 sive)                  PARAMS         ----r :y'bub de'e(OM)  fault , 'gau:
	an',-' */ty'{
   risepou  e:         coeffn");
  puuuu             USAGE

  p
  p>>>arr;
*ta.rruuunhase;
*ta and   'bub de'n 2.0 i
  prise>>>arr;
*ta.rruuunhase;
*ta and   'bub de'n2.0 i
  prise>>>arr;
*ta.rruuunhase;
*ta and   'gau:
	an',3.0 i
  prise>>>arr;
*ta.rruuunhase;
*ta and   ' */ty')i
  prise>>>arr;
*ta.rruuunhase;
*ta and   ' */ty',0.25)                  Not(:a */tyLa ;
 }
2.0
alwaysa>=e0.0i
  prise400.
  ppppp       .rct .=y'uf et'3;

  p
  p    coh);bPmyarroo\r
  priseriseriseee"Can   rgetu;
*ta and f and  .  ;e(ha
    ryet n; ermt  prito.0.
  ppppp   ----r.=y'gau:
	an'eamy----r.=y'bub de')ar
  priserise   ----r.=y'gau:
	an'):e;
*orS 3])
psec_tc  er()
ur
  priserise

 iae;
*orS 3])
psec_tcou  er 
  puuuuuuuu     _ and  ".
  inhase;
*ta and _ and       .uld ha,r
  priseriseriseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee    .rast. oi m.asIntPxxxsdr
  priseriseriseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee        
 i
  prise

   ----r.=y' */ty'): 
  puuuuuuuu     _ and  ".
  inhase and  s_EMerno      .uld ha,r
  priseriseriseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee    .rast.2, rad       i
  prise

 iar
  priserisecoh);bPmyarrook----r%s(ha
    ryet d)le)ten ed"o%t;
*or
  prise and  ".
	eeut >]le      _ and  ,    .    *    .     .
  ppppp	mfan
h);y.iro     _ and  
)" +a);

  return(eeeeeeeep.
  a and  {

  p  "
"\emxy(      r(myri x, y3;

  p
  p400.
  pppppuuuu;
"\emxy( i
  prisec3-07-28
	(t18i
  priseTted  graance allows x,y addr):
	 atcffa lrepre *   and ;
  a

  p
  pmaaaax.                    PARAMS         -buildn lrepre *   and ;
  apmaaaax (e.g.u;
*ta and f and  r  

  p
  puuuunodLs s.cc
{eby 
*ta;
*ta and     i
  prisexprise: xoririeinLL;{ coaaaax ee)ten i
  priseyprise: yoririeinLL;{ coaaaax ee)ten i
  prise         USAGE

  p
  pTono/is f
  ;;
*ta and f and { couuuunodL a>>arruuun"\emxy(
*ta;
*ta and    ,8,3)

  p
  p400.
  ppppp.
  array_h[_0+ y *e    .    ]{

  p  "
saveeut 7, 4(a     ctorin

  p
  p400.
  pppppuuuu;
saveeut 7, 4()i
  prisec3-07-28
	(t1, l(t1,         Gtasnr ctors th(tmted  graance saves if (etur
he trainir, i)

  p
  pu qmode = pi i.         U  tmted  graance , iuavegif (;i"
);

  retu5m/c
ap a);arrch"):
		1.                  PARAMS         pi i:r not  copi i.ppcomm:]l d ext  ftf(:ule);                  USAGE

  p
  p>>>arruuunsaveeut 7, 4(ctors thle);)

  p
  p400.
  pppppx(xxxxxne maa1
a  pv   ri_inxxx i':()  fa1
a  pv   ri_ing olpha1
a  pi':(    .uld ha))

  ppppp)  fa#infet e, or  "
i	3,tries 
  puuuu

  p  "
 ieplayal   3;

  p
  p400.
  pppppuuuu;
 ieplaya i
  prisec3-07-28
	(t1, i
  priseDieplays all(;i"
);

  retu f
  ;gtasnr  fa                  USAGE

  p
  p>>>arruuun ieplaya i
  prise400.
  pppppx(xxxxxne maa1
a  pv   ri_inxxx i':()  fa1
a  pv   ri_ing olpha1
a  pi':(    .uld ha))

  ppppp)  far, lerno((x)< )
    {
   rise

  p  "
 ieplaym;
*ta and       , and  ='uf et'3;

  p
  p400.
  pppppuuuu;
 ieplaye;
*ta and    i
  prisec3-07-28
	(t18
	(t1, l(t1, i
  priseDieplays uuuu;
*ta and tu fpp.tpir, le.uuI  if ( and  r not skip_if unu qmode =,r
  prise rr_,eOM)  faultdtmted  graance dieplays 
  ;;
*ta and f and s s.cc
{eby call  af
  prisehase;
*ta and    ewithugau:
	an ----r- d a         co1.0. xO    wh);,fnteed)
r

  ppppp)ant qmodya
  ;;
*ta and f and s , ibetdieplay
{eby call  a
"\em;
*ta and    i
  prisewithu   ired ----r- d       .;
  puuuuuuuu;
  puuuuPARAMS          and sn l
  a
*ta and f and  . x                  USAGE

  p
  p1.lTo(u "
\nfault dieplay (gau:
	an ----r- d        =
1.03;

  p
  p>>>arruuun ieplaym;
*ta and    i
  prisei
  prise2.lTo(dieplay 
  ;;
*ta and f and s s.cc
{eby hase;
*ta and    ewithugau:
	an         ----r- d        of 3;

  p
  p>>>arruuun ieplaym;
*ta and   hase;
*ta and   
='gau:
	an',-;


tf=3))r
  prise400.
  ppppp    and  "=y'uf et'3;

  p
  p     and  ".    ."\em;
*ta and   'gau:
	an')r
  prise am j_h);btem(m0,    .     ar
  priserise   jo%t2"=y1t  d     .it_ra=='hex ')ar
  priseriseriser, le "se4,r
  priseriseCYCLa_h);btem(m0,    .    )ar
  priseriserisetidexo=ei + j_*e    .    r
  priseriseriser, le "%.2f" % ( and  [tidex]sdr
  priseriser, le ""{

  p  "
"\emreg_ing olpo    ,t 
  
3;

  p
  p400.
  pppppuuuu;
"\emreg_ing olpo i
  prisec3-07-28
	(t18
	(t1, l(i
  priseGtasnr urroun- d a ----r('e);2,'eamy';t '),emted  graance s.cc r
  prise rrecorre  o]l  at(regular)cing olpe-ssoci			PyEd   if)couoi m. ;
  puuuuPARAMS         ptse: urrouno//n")i
  prise;
*o:u'e);2,'eamy';t '
         USAGE;

  p
  p1.llTo(getu a);arrch(regular)cing olpe-ssoci			PyEd   urrounm0,2 i
  prise>>>arruuun"\eming olpo oi m(0,2 ,y'e);2,')i
  prise2.llTo(getu;t    at(regular)cing olpe-ssoci			PyEd   urrounm5,5 i
  prise>>>arruuun"\eming olpo oi m(5,5 ,y';t ')r
  prise400.
  ppppp      ri
	 st pce( 
   oi m3;

  p
  pppppy_h);btem(myarr, "Ex qm*  at  urrouno//n"),;gtasnr%tu f
   "o%talphopt {
   rise  y----r.=y'e);2,';

  p
  pppppyamyarr[-5:]risereg_ting olpo    .uld ha,tpm.asIntPxxxs)

  ppppp

def----r.=y';t ';

  p
  pppppyamyarr[-5:]risereg_ming olpo    .uld ha,tpm.asIntPxxxs)

  ppppp

 iar
  priserisecoh);bPmyarrookUnknownt;
*o:u%s"o%t;
*or

  p  "
"\emIC  ec_ing olpo    ,t 
  
3;

  p
  p400.
  pppppuuuu;
"\emIC  ec_ing olpo)i
  prisec3-07-28
	(t18
	(t1, l(t1,         Gtasnr urroun- d a ----r('e);2,'eamy';t '),emted  graance s.cc r
  prise rrecorre  o]l  atIC  ecu*tascing olpe-ssoci			PyEd   if)couoi m. ;
  puuuuPARAMS         ptse: urrouno//n")i
  prise;
*o:u'e);2,'eamy';t '
         USAGE;

  p
  p1.llTo(getuIC  ecu*tasc a);arrching olpe-ssoci			PyEd   urrounm0,2 i
  prise>>>arruuun"\emin  ec_ing olpo oi m(0,2 ,y'e);2,')i
  prise2.llTo(getuIC  ecu*tasc;t    ating olpe-ssoci			PyEd   urrounm5,5 i
  prise>>>arruuun"\emin  ec_ing olpo oi m(5,5 ,y';t ')r
  prise400.
  ppppp      ri
	 st pce( 
   oi m3;

  p
  pppppy_h);btem(myarr, "Ex qm*  at  urrouno//n"),;gtasnr%tu f
   "o%talphopt {
   rise  y----r.=y'e);2,';

  p
  pppppyamyarr[-5:]risein  ec_ting olpo    .uld ha,tpm.asIntPxxxs)

  ppppp

def----r.=y';t ';

  p
  pppppyamyarr[-5:]risein  ec_ming olpo    .uld ha,tpm.asIntPxxxs)

  ppppp

 iar
  priserisecoh);bPmyarrookUnknownt;
*o:u%s"o%t;
*orriserise

  p  "
"\emmaxIC  ec_ing olpo    ,t 
  
3;

  p
  p400.
  pppppuuuu;
"\emIC  ec_ing olpo)i
  prisec3-07-28
	(t18
	(t1, l(t1,         Gtasnr urroun- d a ----r('e);2,'eamy';t '),emted  graance s.cc r
  prise rrecorre  o]l  atmaximumtIC  ecu*tascing olpe-ssoci			PyEd   if)couoi m. riserise

  pppppPARAMS         ptse: urrouno//n")i
  prise;
*o:u'e);2,'eamy';t '
riserise

  pppppUSAGE;

  p
  p1.llTo(getumaximumtIC  ecu*tasc a);arrching olpe-ssoci			PyEd   urrounm0,2 i
  prise>>>arruuun"\emmaxmin  ec_ing olpo oi m(0,2 ,y'e);2,')i
  prise2.llTo(getumaximumtIC  ecu*tasc;t    ating olpe-ssoci			PyEd   urrounm5,5 i
  prise>>>arruuun"\emmaxmin  ec_ing olpo oi m(5,5 ,y';t ')r
  prise400.
  ppppp      ri
	 st pce( 
   oi m3;

  p
  pppppy_h);btem(myarr, "Ex qm*  at  urrouno//n"),;gtasnr%tu f
   "o%talphopt {
   rise  y----r.=y'e);2,';

  p
  pppppyamyarr[-5:]risemaxIC  ec_ting olpo    .uld ha,tpm.asIntPxxxs)

  ppppp

def----r.=y';t ';

  p
  pppppyamyarr[-5:]risemaxIC  ec_ming olpo    .uld ha,tpm.asIntPxxxs)

  ppppp

 iar
  priserisecoh);bPmyarrookUnknownt;
*o:u%s"o%t;
*orrise

  p  "
"\emhighest_ing olpo    ,ting olp_iyp
='uf et't 
='uf et'3;

  p
  p400.
  pppppGtasnr ----r('e);2,'eamy';t ')n- d a ing olpe and\('regular'rrie  faultdr
  prise'IC  ec',y';txmin  ec'),emted  graance lalp}
lenisf (u qmode = ing olpeEd  r
  prise rrehighestLa ;
 ,oandyp.
  sfa referensee"oe rrecorre  o]l  aturrouno//n")i
  priseandy
  ;ing olpe    itwo-ee)ten  l.eRs.cce amm a:y[ 
  ing olpea ;
 ]
         USAGE;

  p
  p1.lTo(getuurroun- d highestL(regular)cit 
  ing olp:

  p
  p>>>arruuun"\emhighest_ing olpo
='e);2,')i
  prise2.lTo(getuurroun- d highestLIC  ecu*tasc a);a ing olp:

  p
  p>>>arruuun"\emhighest_ing olpo'IC  ec',y';t ')r
  prise3.lTo(getuurroun- d highestLmaxrIC  ecu*tasc;t  ing olp:

  p
  p>>>arruuun"\emhighest_ing olpo';txmin  ec',y'e);2,')i
  prise400.
  ppppp400.
  ppppp   ----r.=y'e);2,';

  p
  pppppdict".    .
*	reding olp_dict

  ppppp

def----r.=y';t ';

  p
  pppppdict".    . arting olp_dict

  ppppp

 iar
  priserisecoh);bPmyarrookUnknownt;
*o:u%s"o%t;
*orriserise

  ppppp   ing olp_iyp
r.=y'in  ec': 3;
 lpha_s1

  ppppp

defing olp_iyp
r.=y';txmin  ec': 3;
 lpha_s2

  ppppp

 ia 3;
 lpha_s0r
  priserisei
  prise;txma ;a_s0r
  prise;txm  ".f("
  p
  pCYCLa_h);btem(m    .    )ar
  priserise am j_h);btem(m    .     ar
  priseriseeeeep.t oi m(i,j)r
  priseriseeeee    ma ;a_sdict[ 
.__str_( ][3;
 lph]
  priseriseeeeer
  priseriserisetfe    ma ;a>=e;txma ;ar
  priseriseriseeeeetfe    ma ;a>e;txma ;ar
  priseriseriseeeeerise;txma ;a_s    ma ;r
  priseriseriseeeeerise;txm  ".f("
  p
  priseeeeerise;txm  r[-3:]le[ 
  i   ma ;])         p.
  artxm  i
  prise400.
  ppppp400.
  pppppmaxr_s0r
  priseCYCLa_h);btem(m    .    )ar
  priserise am j_h);btem(m    .     ar
  priseriseeeeep.t oi m(i,j)r
  priseriseeeee ng olpe.    ._"\emhighest_ing olp_helpenof(g olp_iyp
,t 
  
3r
  priseriserisetfe ng olpe>e;txar
  priseriseriseeeee axr_s ng olp         p.
  artxr
  priseriserise


  p  "
c"\emhighest_ing olp_helpeno    ,ting olp_iyp
,t 
  
3;

  p
  p   ing olp_iyp
r.=y'in  ec':r
  priserise    ."\emin  ec_ing olpo 
  
3r
  prise

defing olp_iyp
r.=y';txin  ec':r
  priserise    ."\emmaxIC  ec_ing olpo 
  
3r
  prise

 iar
  priserise    ."\emreg_ing olpo 
  
3r
  p400.#################################################################################
# cl-ss: pDIST=                                                                 #.#################################################################################
cl-ss 

  re:r
  p400.
  pU)
{rboth  am eighi  d m---lt train .;
  p
*ta lt   ecantb (d)
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 }

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  ; train. xTteeurrouneighimerd;
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  'uf et'e am eigh;
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{ f
  ;etu

  p400.
  p  "
__tderr_o    ,t lt ='uf et't 
  }

=1  ask='NULL't     y='uf et't;
  puuuuuuuuuuuuu1ph='uf et't poi m='uf et't ip;
 =[]3;
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	PARAMS 	 lt se: l
  ee)ten s , ibetIC veron
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t
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t; i=e0.
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  1'in2ndy0' . x     do coasksl2h(databetsf (uaaifat;
 
	
  prise

ts l.eia 1idimiL;
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ts l w(dat
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 }
 f
  
		 
ts l 2.0
e ibetIC siuuupriintif ecomput and ;
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 rneatd)
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 ask  a:

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 =['X',2,'ab','C4']))r
  prise400.
  ppppp    
ts !=y'uf et'3;

  p
  p    #Lee  r  reeE  }

t
  ia);arrch train>=e0.

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  p    #LNot(:aT  archempyd)
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t<
0.0)ar
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  priseriseriseeeeeeeW  }

t; i=e0"o%tE  }

r
  priseriseurrou ".leut ;  
tsook     ")r
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ts  (eeeeeeee    #Leesk(eeeeeeee    c_ asks=y'NULL')" +aon gr: c_ asks; i]le urrou t     .     (eeee  "
__i': temr_o    ,tkey3;

  p
  p400.
  ppppp

  re: __i': temr_o)i
  prisec3-07-28
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  ppppprra.t    ."\em lt   i
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  p
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  return(eeeeeeeeeeee{
   rise      tkey.itop >eray(l   3;

  p
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  puuuuuuuu

 iar
  priserise    itop =ekey.itopr
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  array_h[key.itart:key.itop])" +a);

  return(eeeeeeee

 iar
  priserisec.
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   (eeee  "
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  prisec3-07-28
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t
  if (

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 =[]3;

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	(t1, l(t1i
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  ;gtasnr p;
 rseRemmyas all( p;
 sppviouslp;
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  p
  p#c_str p;
 hra'NULL')" +aon gr: c_str p;
 h; i] rE  }

:  ;tska[<askseets>] r p;
 :[< p;
 heets>]

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t.t    ."\em
  }

 )i
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 h".    ."\em p;
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  p
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:u%s"o%t
  }

drr
  prise   -asks!=y'NULL')ar
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 h!ra[])ar
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 :

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  pppppppppr, le "\'%s\'"o%teltdr
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.#################################################################################
# cl-ss: eigh02
iiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiii#.#################################################################################
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  p
  p400.	\ 0.02
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	(t18
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nIC       orrriserise
	PARAMS 	tderr train:((x)>>arr;
 
02
i= no((x)<  u  =ctors th i
  prise2.llTo(build  ino((x)>>arr;
 
02
i= no((x)< 1ph=4 i
  priseinmrriserise>>>arr;
 
02
i= no((x)< (x)>>arr;
 
02
.add tr  train1          >>>arr;
 
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  prise400.
  ppppp    .u".
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  priserise400.
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  return(eeeeeeeeeeee{
   rise      (tderr trains!=y'NULL')ar
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   rise      (tderr trains!=y'NULL')ar
  priseriserise    .add tr tderr train)r
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   rise      (tderr trains!=y'NULL')ar
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   rise    rise    .add tr tderr train)r
  priserise

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   rise        .e    i   r
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pppp# " ed wad gta rlm-ncppobe)tsyEd   uythce2.2'sgarbag ecoll
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  p# 2.0
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  p tr.      {

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02
.
	400.
  pppppt alphra
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   risep.
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nex
 l   3;

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 )
	
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pt alph   ntee\ 0.02
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  fanex
           .p {
   risep.
  a train(    y=2, rad1ph=    .     (eeee  "
g)<(     etidex3;

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	(t18
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  i
  prise t_Vs hp train.
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  priserisecoh);bIddexmyarroo"Digh02
iindexoc  "
  bou ds0.
  ppppp

 ".    .rewi]le)

  ppppp r_s0r
  prisecated(i _ing olp.;
  pr, le "hes	s1a uuuubnror rie, \ 0.ibnror rie,  a);a bnror\ 0.02
";
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	(t18
	(t1,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,";
  p   1ar
  priserruuu.t uuu  u  =i':env("PYROBOT") + '/ba);a/ uuu/exle);')

  p
  p-r;
 
02
i= no((x)<  u  =i':env("PYROBOT") + '/ba);a/ uuu/exlno(')

  p
  p-r  intderrha);arrc(0.02,4.0,5000)

  p
  p-r  intimrrc_itarta i
  prise# hes	s
*	red rearno((x)<

  p
  p-r  int*	red rearno((x)< -r;
 
02
 i
  prise#-r  int*	red rearno((x)< -r;
 
02
 i
  prise-r  intimrrc_itopa i
  priset216s.rruuunhaseha);arrc_216s( i
  prise-r  insaveeut 7, 4("hes	1le);")

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		1Saomph);d   ", t216sookoeIC ds0.
  pppppr, le "output #inftee , i rie \"hes	1le);\00.
  pppppu, le "feigverodec oato,eaomp2.0
e itest_i])
p y output \"hes	1le);\00.
  pppppu, le "seandy
 itest_uuuuuuu output \"hes	1_verodyle);\00.
  pppppu, le "hes	s1 succ):
fully(comph);d"
i
  prise# hes	s
*	re ing olpsi
  prisetes	1t_fd.argv("hes	1l
*	reding olp", "w")

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  puuuuCYCLa_h);btem(m-r  in    )ar
  priserise am j_h);btem(m-r  in     ar
  priseriseeeeep.t oi m(i,j)r
  priseriseeeeet ng olpe.rruuunhasereg_ing olpo 
  'e);2,')i
  prise
  puuuutes	1t_fda#infe(" oi m: %s\t ng olp: %s\n" % \r
  priseriseriseeeeeeeeeeeeeee p( 
.__str_( ,et ng olp))

  puuuutes	1t_fda#infe("*** EndyT*	re Cng olpe***\n")


  puuuutes	1t_fda#infe("*** CC  ec T*	re Cng olpe***\n")

  puuuuCYCLa_h);btem(m-r  in    )ar
  priserise am j_h);btem(m-r  in     ar
  priseriseeeeep.t oi m(i,j)r
  priseriseeeeeIC  ec_ting olpe.rruuunhaseIC  ec_ing olpo 
  'e);2,')i
  prise
  puuuutes	1t_fda#infe(" oi m: %s\t n  ec_ing olp: %s\n" % \r
  priseriseriseeeeeeeeeeeeeee p( 
.__str_( ,eIC  ec_ting olp))

  puuuutes	1t_fda#infe("*** EndyCC  ec T*	re Cng olp\n")


  puuuutes	1t_fda#infe("*** Max CC  ec T*	re Cng olpe***\n")

  puuuuCYCLa_h);btem(m-r  in    )ar
  priserise am j_h);btem(m-r  in     ar
  priseriseeeeep.t oi m(i,j)r
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  'e);2,')i
  prise
  puuuutes	1t_fda#infe(" oi m: %s\tmaxmin  ec_ing olp: %s\n" % \r
  priseriseriseeeeeeeeeeeeeee p( 
.__str_( ,emaxIC  ec_ting olp))

  puuuutes	1t_fda#infe("*** EndyMax CC  ec T*	re Cng olpe***\n")

  puuuutes	1t_fdamiose()

  puuuur, le "==> Tes	s1a T*	re ing olps #inftee , : %s\n" % \r
  priseriseri'hes	1l
*	reding olp'
i
  prise# hes	s art rearno((x)<

  p
  pr, le "Tes		 at;t  bnror\ 0.02
";
  peeeemruuu1a.t uuu  u  =i':env("PYROBOT") + '/ba);a/ uuu/exle);')

  p
  p-ruuu1antimrrc_itarta i
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02
 i
  prise#-r  i1an art rearno((x)< -r;
 
02
 i
  prise-ruuu1antimrrc_itopa i
  priset216s.rruuu1anhaseha);arrc_216s( i
  priser, le "Mt    attook", t216sookoeIC ds0.i
  prise# hes	s ar ing olpsi
  prisetes	1m_fd.argv("hes	1l arting olp", "w")

  puuuutes	1m_fda#infe("*** Map Cng olpe***\n")

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  priseriseeeeep.t oi m(i,j)r
  priseriseeeeeming olpe.rruuu1anhasereg_ing olpo 
  ';t ')r
  prise
  puuuutes	1m_fda#infe(" oi m: %s\t ng olp: %s\n" % \r
  priseriseriseeeeeeeeeeeeeee p( 
.__str_( ,eming olp))

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  puuuutes	1m_fda#infe("*** CC  ec Map Cng olpe***\n")

  puuuuCYCLa_h);btem(m-r  i1an    )ar
  priserise am j_h);btem(m-r  i1an     ar
  priseriseeeeep.t oi m(i,j)r
  priseriseeeeeIC  ec_ming olpe.rruuu1anhaseIC  ec_ing olpo 
  ';t ')r
  prise
  puuuutes	1m_fda#infe(" oi m: %s\t n  ec_ing olp: %s\n" % \r
  priseriseriseeeeeeeeeeeeeee p( 
.__str_( ,eIC  ec_ming olp))

  puuuutes	1m_fda#infe("*** EndyCC  ec Map Cng olpe***\n")


  puuuutes	1m_fda#infe("*** Max CC  ec Map Cng olpe***\n")

  puuuuCYCLa_h);btem(m-r  i1an    )ar
  priserise am j_h);btem(m-r  i1an     ar
  priseriseeeeep.t oi m(i,j)r
  priseriseeeeemaxIC  ec_ming olpe.rruuu1anhasemaxIC  ec_ing olpo 
  ';t ')r
  prise
  puuuutes	1m_fda#infe(" oi m: %s\tmaxmin  ec_ing olp: %s\n" % \r
  priseriseriseeeeeeeeeeeeeee p( 
.__str_( ,emaxIC  ec_ming olp))

  puuuutes	1m_fda#infe("*** EndyMax CC  ec Cng olpe***\n")

  puuuutes	1m_fdamiose()

  puuuur, le "==> Tes	s1a Mt  ing olps #inftee , : %s\n" % 'hes	1l arting olp'
ii
  prise# hes	s2:i
  prise# SOMh arbtedomly((x)>>arr;
 s[i] oi m:  ieu/ex  p
  ppn-->Prevriseriseriseri3;
s[i].  ppppp train: 
*ta p;
  asSnidex3;
s[i].  ppppp tr[i] oi m:  ieu/ex  p
  p-->NrrcL;  fa  riseri3;
s[i].  ppppp train: 
*ta p;
  asSnidex.
	4==3m(m-r  i1an     ar
3;
s[i].  ppppp train: min(
e   ieu/ex  p
  pL;  faat
3;
s[%s] "it'ss' waioi m:  ieu/ex  p
  ppnviewrSRN;levels0.D  pppp
  p);')

  .."a/ uuu/exle);')

 .
  ppppp oi m:  ie  p
  ppnvia/ uuu/exle);')
loggprise;
 o    "emru"").lefix="OT")
  p"lp_iyp


  pu";a/ uuu/exle);')
loggpris"it'sseha);arrc_216s()
loggprison(-3:]leent( teMriseriserirains.  SOM'swted upd 4emaduiseR  p-ruuu:]leent( teCverodec eTo 
  puuuuill roueonese  p
 ise#ndeeee axr_s #0.AFTER TRAININGiit!i
  prise400.
  pp  p
  p****** BEFORE TRAINING *******e400.
  pp  p
  pMrains.  SOMeif (e1m_fe400.
  pp  p
  p(0,4): "lp_16s()
 olperain400.	\ 
  a
	(0,4) oi m:  ie  p
  p(0,6): "lp_16s()
 olperain400.	\ 
  a
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 olperain400.	\ 
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 olperain400.	\ 
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 olperain400.	\ 
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 olperain400.	\ 
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 olperain400.	\ 
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 olperain400.	\ 
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 olperain400.	\ 
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 olperain400.	\ 
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 olperain400.	\ 
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  p******************************pnviewrSRN;lise400.
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  p
log\""Cng olpe***\n"4si
  prisetes	1t_4d.argv("hes	1l
*	repe**ng olpe***\n"4si
  puuuutes	1t_fda#infe("*** T*	re Cng olpe***\n")

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  puuuutes	1t_fda#infe(" oi m: %s\t ng olp: %s\n" % \r
  priseriserieeeeeeeeeeeee p( 
.__str_( ,et ng olp4si
  puuuutes	1t_fda#infe("*** EndyT*	re Cng olpe***\n"4si
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  puuuutes	1t_fda#infe("*** Max CC  ec T*	re Cng olpe***\n")

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  puuuur4 le "==> Tes	s1a T*	re ing olps #inftee , : %s\n" % \r
  p4iseriseri'hes	1l
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 olperain400.	\ 
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  p********************************pnviewrSRN;lise400.
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  puuuutes	1t_fdamiose()

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 "",e p;
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 p;
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 paussian(vtem(m-r   400..ap(mall.exp, -(v ** 2)g  r
 imqe(v, k = .5tem(m-r   400..ap(lambda z: 1.0 / mall.sqrt(zi+e(k ** 2)g,'ai3a######RBFem(m-riseA Radirb.Basi##Fise3al  nraipise400.
r
  p"""{

  p  "
n,;f)em(m-r  in# ceisericanfbhc p andedaat
 rieom(eturnually(cg);'). H  r
(m-r  in# we jup-aissig0.a crieom(v  SOMem(m------sp;
 ceiseriseNumeric.array([crieom.crieom()ef  er)

  puuuu ,;f)] oi m:  ie#n"""{irb radiusem(m------sp;
 radiusi= 1.0oi m:  ie#n"""{irb (x)
ise4## Currels0limit 4emer:nl_- ART*** super3i#or wi]l symbol,ewh Mh   a#strseRL'numbeM,e*\n
  pnl_- 400.cert priabout i
  prizzyAm, busbress 
#nusefuldrise3al r r
 3 succ  rOC ai();'))em(miseCl rtructs 3 succ  rOn3 aippairs [n, 1_- 4, ...]-**\nn%.3f);')pise400r
  
  p
**\nn%.3f);')em(m-r 2.0
s# Scolpo 
 2.0
s# S1_- 4olpo   400.r r
 inner(a, b)em(mlloort operaSOM
in   400.float(reduce(operaSOM.. p, [x * y
**\nix, y %.3fzip(a, b)] gi    r
 rizzyAm,(a, b)em(miseFizzy ANDnuses m""(); sc  eeby totrb 1'spise400malch=0.0oi totrb=0.0oi **\n")

  puuuulenrantem(m-rmalch +=nm""(a[i], b[i] m(m-rtotrb +=na[i]
m-if totrb ;  ppppp     400.0.0oi n)r
  pris   400..alch/totrb r
 ror.al(
  p, d;

  1)em(miseFor.alsca 
  p
**\nd  pppp. d;

  pd;
imrb pppcespise400   400."["i+e", ".jo""([("%."+("%d"%dec)+"f") %'num
**\nnu %.3f
  p]':en"]" r
 mror.al(matrsx, d;

  1eetudlli= 5,emissi(ci= '.'sEque   (x)i
 "  "i+e(" "i*etudll)oi **\ncol)

  puuuulenrmatrsx[d])g  pris   vrb +=n("%"i+e("%d" %'tudll):en"d") %'(col,e)
is   vrb +=n"\n"
is   vrb +=n(" "i*etudll):en" +"oi **\ncol)

  puuuulenrmatrsx[d])g  pris   vrb +=n"-"i*etudll
is   vrb +=n"\n"
is w=e0lpof  erow)

 matrsx  pris   vrb +=n("%"i+e("%d" %'tudll):en"d |") %'
queao**\nnu %.3frowem(m-r  if nu %
=e    e=p;
  asSn   vrb +=n("%"i+e("%d" %'tudll):en"s") %'missi(c p
  p
n)r
  priseris   vrb +=n("%"i+e("%d" %'tudll):en"d") %'(nu ,
) r      vrb +=n"\n"
isis w+
 1oi    400.r  vrb r
 m;Patsern(d s, symbol,en,;f,'loc    p

 0)em(mlloort  rieom   if  ymbol%.3f) s  pris   400.) s[ ymbol]oi n)r
  prisif aoc    p"
 ieplaiatsern
  
0]i*g ,;f
 ieplaiatsern[crieom.crieist(0,en,;f - 1)] 
 1oi m
n)r
  priseriatsern
  
crieom.crieist(0,e1) **\n")

  puuuu ,;f)]400.
whrieNiatsern
.3f) s.(x) pri"
);'), }

d 
      , verbuuu*
 0)em(m-rise EndyMa    patserns.rise prisi
 verbuuu: pvels0.T "==uuu .."a/ us   (x)i
 [ p;
 step(patsern, }

d , verbuuu) **\niatsern
.3f);')] prisi
 verbuuu: pvels0.T "==uuu done!"oi i    400.r  vrb 
rir
 step( pri"
currelsD;'), }

d 
      , verbuuu*
 0)em(m-rise EndyMa   niatsern. (t18
	i
# 4egory'numbeM.rise prisi
  p;
 3 succ  rOC ai:
currelsD;')(
 cosucc  rOC ai(currelsD;')) prispvels0"Inpuu:", ror.al(currelsD;')) pris# 4egoryAarr-ba)
{dsesp;
 yarr-baeC 4egorie#(currelsD;')) prissorted=[(# 4egoryAarr-ba)
{[i],i) **\n")

  puuuu p;
 nu C 4egorie#)]400.
sorted.ream, e()=p;
  currelsSortedIndexw=e0lpo 
whrieN1em(m-r  if  p;
 nu C 4egorie#w=  ppppp   key# 40%c 4egorie# yet (first iime); . ppric 4egorym(m-r  in p;
 wlt   2.0
s# S[1.0]i*g prisnu Fea 40eL)m(m-r  in p;
 upd 4eWlt   s(currelsD;'),  p;
 wlt   [d])m(m-r  in p;
 nu C 4egorie#w+
 1y# 40w   p1m(m-r  ini
 verbuuu: pvels0.Cat
0:", ror.al( p;
 wlt   [d])m(m-r  in   400.0n# winly(cgc 4egorym(m-r  #aat
it'sta   nc 4egorym(m-r  currelsAarr-ba)
{"
currelsC 4egory'=
sorted[currelsSortedIndex]m(m-r  currelsWlt   V  SOMe=s p;
 wlt   [currelsC 4egory]m(m-r  malch =e p;
 calcul 4eMalch(currelsD;'), currelsWlt   V  SOM)ng olpe# if malch (x)
 p;
 vigilpucepppp   key# upd 4e=re *wlt   sm(m-r-r  cheris =e p;
 upd 4eWlt   s(currelsD;'), p;
 wlt   [currelsC 4egory])m(m-r  ini
 verbuuu:   c_ askd pvels0.Cat
%d:" %'currelsC 4egory, ror.al( p;
 wlt   [currelsC 4egory])m(m-r  in   400.currelsC 4egoryoi m
p
n)r
  priserisi
 3urrelsSortedIndexw==n p;
 nu C 4egorie#w- 1  priserisesi
 ( p;
 maxNu C 4egorie#!=    inm,   c_ askd 1phd p;
 nu C 4egorie#==maxNu C 4egorie#tem(m-r  in 2,4i
 verbuuu: pvels0.No winlerp   c_ askd 1p   400.    C  ,tx=m
p
n)r
  priseris1phd p;
 wlt   2.0
s# S[1.0]* prisnu Fea 40eL)m(m-r  in1phd p;
 upd 4eWlt   s(currelsD;'), p;
 wlt   [-1])m(m-r  in1phd p;
 nu C 4egorie#w+
 1m(m-r  in 2,4i
 verbuuu: pvels0.Cat
%d:" %'u p;
 nu C 4egorie# - 1), ror.al( p;
 wlt   [ p;
 nu C 4egorie# - 1])m(m-r  in1phd   400. p;
 nu C 4egorie# - 1m(m-r  inn)r
  priseris1p3urrelsSortedIndex+=1 
rir
 yarr-baeC 4egorie#( p  eee puu)em(m--ise Propag 4e=re *yarr-ba)
{dise#e *c 4egory'pppM
. (t18
	i
yarr-ba)
{s.ise pris    
  p
  **\nj)

  puuuu p;
 nu C 4egorie#):m(m-r  malch=0oi m:  wlt   =0lpo 
  2suu")

  puuuu p;
 nu Fea 40eL)  priserismalch +=nm""(e puu[i],  p;
 wlt   [j][i] m(m-rm:  wlt    +=n p;
 wlt   [j][i]m(m-r  e2.0
s# Smalch / ( p;
 biase+ wlt   )) r      400.r 
 or
 upd 4eWlt   s( p  eee puu, wlt   )em(m--ise Upd 4e=re *wlt   s;    400 p1 if  s:u  pricheriss=re *wlt   srise prisa =e p;
 leppni(cR 4elpo 
cheris =e0lpo 
pM 
")

  puuuulenre puu)tem(m-r  if e puu[i] <*wlt   [i]:m(m-rm:  wlt   [i] = (a*e puu[i]):en((1-a)*wlt   [i] m(m-rm:  cheris =e1oi i    400.cheris 
 or
 calcul 4eMalch( p  eea, b)em(min   400.fizzyAm,(a, b)m(min#rbytti inner(a, b) / inner(a, a) 
 or
 ca4egorize( p  eee puu, verbuuu*
 0)em(m-rise Fi bnrore=uuuu puml\ 0,eandy
e(# 4egory)rise prisi
  p;
 3 succ  rOC ai:
e puuisecosucc  rOC ai(e puu)  2,4i
 verbuuu: priserivels0ror.al(e puu), "=>",  pris# 4egoryAarr-ba)
{dsesp;
 yarr-baeC 4egorie#(e puu)  2,4sorted=[(# 4egoryAarr-ba)
{[i],i) **\n")

  puuuu p;
 nu C 4egorie#)]400.
sorted.ream, e()m(min  sonpuce=0lpo 
malch=0oi m:currelsSortedIndexw=e0lpo 
whrieN  sonpucew=  ppppp   keycurrelsAarr-ba)
{"currelsC 4egory'=
sorted[currelsSortedIndex]m(m-r    currelsWlt   V  SOMe=s p;
 wlt   [currelsC 4egory]m(m-r    malch =e p;
 calcul 4eMalch(e puu, currelsWlt   V  SOM)ng olpe  if malch >
 p;
 vigilpucepppp   key,4i
 verbuuu: pvels0currelsC 4egoryoi m
p
i i    400.currelsC 4egoryoi m
p
i n)r
  priseris1pi
 3urrelsSortedIndexw==n p;
 nu C 4egorie#w- 1  priserisesey# E bnrepre *
ine!m(m-r  in 2,4i
 verbuuu: pvels0    C  ,tx=m
p
1p   400.    C  ,tx=m
p
n)r
  priseris1phd3urrelsSortedIndexw+
 1m
 or
 ca4egorizeA l  p  "
e puu, verbuuu*
 0)em(m-r   400.[ p;
 ca4egorize(x, verbuuu) **\n"%.3fe puu]m(m-r
 or
 d  ppppConfu#i aMatrsx  p  "
outpuuse't stS;
sEqueao# calcul 4einm, pvels0confu#i a matrsx400.
s,;fi= max(outpuus):en1lpo 
malrsx=[[0 **\nj)

  puuuu ,;fi+ 1)] **\n")

  puuuu ,;f)]400.
pM 
")

  puuuulenrt stS;
stem(m-r  i puu, targ ti= t stS;
[i]m(m-r  outpuui
 outpuus[i]m(m-r  i
 outpuu==    e=outpuui
  ,;f
 ieplamatrsx[targ t][outpuu]w+
 1m(m-rpvels0.Confu#i a Matrsx:e pris    0m(m-rpvels0.ris1phd"e   c_**\ncol)

  puuuulenrmatrsx[d])g  pris-rpvels0.%5d" %'(col,e),m(m-rpvelsm(m-rpvels0.ris1phd"e   c_**\ncol)

  puuuulenrmatrsx[d])g  pris-rpvels0.-"i*e5,m(m-rpvelsm(m-rf  erow)

 matrsx  pris-rpvels0.%5d |" %'M,tr p;
**\nnu %.3frowem(m-r  -rpvels0.%5d" %'(nu ,
),  pris-rpvelsm(m-r  ew+
 1m
######ARTMap(ART)em(miseART*** exts# ##ART.#ise400r
  p"""{

  p  "
nu Fea 40eL, maxNumC 4egorie#=    ,   c_ askd 1phd vigilpuce=0.75erbias=0.000001,c pppni(cR 4e=1,8,   c_ askd 1phd 3 succ  rOC ai=0)em(m-r p;
 wlt   =
  p
 
 p;
 mapField=
  p
 
 p;
 3 succ  rOC ai=cosucc  rOC ailpo 
i
 3 succ  rOC ai:snu Fea 40eL*=2Crt r p;
 nu Fea 40eL=nu Fea 40eLCrt r p;
 nu C 4egorie#=0lpo 
 p;
 maxNu C 4egorie#=maxNu C 4egorie#queao# p;
 nu C####es=nu C####eslpo 
 p;
 vigilpuce=.igilpucelpo 
 p;
 bias=biaslpo 
 p;
  pppni(cR 4e=leppni(cR 4el
rir
 p
  p> pri"
patserns, verbuuu*
 1)em(m-rcheriss=0lpo 
i
 verbuuu: pvels0.T "==uuu .."a/ us**\nd;'),  uper3i#or w0.patsernsem(m-r  if  p;
 3 succ  rOC ai:
);')=3 succ  rOC ai();'))m(m-r  cheriss=+=n p;
 step(d;'),  uper3i#or, verbuuu)lpo 
i
 verbuuu: pvels0.T "==uuu done!"oi i    400.cheriss 
rir
 step( pri"
d;'),  uper3i#or, verbuuu=1)em(m-rif  p;
 wlt   ==
 e*\n uper3i#or 400..3f p;
 mapFieldem(m-r  if verbuuu: pvels0.New:", d;'),  uper3i#orm(m-r  sp;
 yddNewC 4egory(d;'),  uper3i#or)m(m-r     400.1m(m-ryarr-ba)
{=sp;
 yarr-baeC 4egorie#(d;')) prissorted=[(aarr-ba)
{[i],i) **\n")

  puuuu p;
 nu C 4egorie#)]400.
sorted.sort(lambda a,b: cmp(b,a))m(min  sonpuce=0lpo 
3urrelsSortedIndex=0lpo 
whrieN  sonpuce==ppppp   kcurrelsAarr-ba)
{"currelsC 4egory=sorted[currelsSortedIndex]m(m-r  currelsWlt   V  SOM= p;
 wlt   [currelsC 4egory]m(m-r  malch= p;
 calcul 4eMalch(d;'),currelsWlt   V  SOM)ng olpeif malch <
 p;
 vigilpucepppp   keyi
 3urrelsSortedIndex== p;
 nu C 4egorie#-1  priserisesi
  p;
 maxNu C 4egorie#!=    inm,d p;
 nu C 4egorie#== p;
 maxNu C 4egorie#  priseris1phd  sonpuce=1m(m-r  in 2n)r
  priseris1phd p;
 yddNewC 4egory(d;'),  uper3i#or)m(m-r  (m-r  if verbuuu: pvels0.New: (< vig)", d;'),  uper3i#orm(m-r  (m-r     400.1m(m-rin 2n)r
  priseris1p3urrelsSortedIndex+=1 -rin 2n)r
  priserisi
  p;
 mapField[currelsC 4egory]== uper3i#or  priseris1p3heris= p;
 upd 4eWlt   s(d;'), p;
 wlt   [currelsC 4egory])m(m-r  in  if verbuuu: pvels0.Upd 4e:", currelsC 4egoryoi m
p
i i    400.cheris (m-rin 2n)r
  priseris1pv=malch+0.000001 priseris1pi
 3urrelsSortedIndex== p;
 nu C 4egorie#-1  priserisesesi
  p;
 maxNu C 4egorie#!=    inm,d p;
 nu C 4egorie#== p;
 maxNu C 4egorie#  priseris1phdhd  sonpuce=1m(m-r  in 2 %n)r
  priserise

 ia p;
 yddNewC 4egory(d;'), uper3i#or)m(m-r  (m-r    if verbuuu: pvels0.New:", d;'),  uper3i#orm(m-r  m
p
i i    400.1m(m-r  in 2n)r
  priseris1phd  sonpuce=0lpo 








3urrelsSortedIndex+=1 -rinpvels0'T
  pShould N00.H.0
s#'oi i    400.0 
rir
 yddNewC 4egory( pri"d;'), uper3i#or)em(m-r p;
 wlt   2.0
s# S[1.0]* prisnu Fea 40eL)m(m-r p;
 mapField2.0
s# S0)m(m-r p;
 upd 4eWlt   s(d;'), p;
 wlt   [-1])m(m-r p;
 nu C 4egorie#+=1 -rin p;
 mapField[-1]= uper3i#orm
 or
 c####ifyOnea p  eee puu)em(m--if  p;
 nu C 4egorie#w=  ppp   400.    C  ,ti
  p;
 3 succ  rOC ai:
e puu=3 succ  rOC ai(e puu)  2,4yarr-ba)
{=sp;
 yarr-baeC 4egorie#(e puu)  2,4sorted=[(aarr-ba)
{[i],i) **\n")

  puuuu p;
 nu C 4egorie#)]400.
sorted.sort(lambda a,b: cmp(b,a))m(min  sonpuce=0lpo 
3urrelsSortedIndex=0lpo 
whrieN  sonpuce==ppppp   kcurrelsAarr-ba)
{"currelsC 4egory=sorted[currelsSortedIndex]m(m-r  currelsWlt   V  SOM= p;
 wlt   [currelsC 4egory]m(m-r  malch= p;
 calcul 4eMalch(i puu,currelsWlt   V  SOM)ng olpeif malch< p;
 vigilpucepppp   keyi
 3urrelsSortedIndex== p;
 nu C 4egorie#-1  priserises1p   400.    C  ,tx=m
n)r
  priseris1p3urrelsSortedIndex+=1 -rin 2n)r
  priseris   400. p;
 mapField[currelsC 4egory]m
 or
 c####ifyA l  p  "
e puu)em(m-r   400.[ p;
 c####ifyOneax) **\n"%.3fe puu]m(m-r
 or
 c####ifyRpuuuu p;
g  pris   vrb = [[0 **\n")

  puuuu10)] **\nj)

  puuuu10)]m(m-rf  erow)

  puuuu10)  priser**\ncol)

  puuuu10)  priseris   vrb[col][row] =e p;
 c####ifyOnea(col/10.,*row/10.)) r      400.r  vrb (m-r
 or
 t stA l  p  "
patserns, verbuuu=0)em(m-routpuu=
  p
 
errOM=0lpo 
pM 
d;'), uper3i#or w0.patsernsem(m-r  guess= p;
 c####ifyOnea);'))m(m-r  outpuu2.0
s# Sguess)ng olpeif guessd!   uper3i#or  priserisif verbuuu: pvels0.ERROR:",d;'),"guess:",guess,"answer:", uper3i#orm(m-r  m
errOM+=1 -rin   400.outpuu,
errOM

i
  pname__
 =e"__uYRO__":ng #################################################################ng # Tu puARTem(me puu=[(1,1,1,1,1,0,0,0,0,0,0,0ne   c_ askd(1,1,1,0,1,0,0,0,0,0,0,0ne   c_ askd(0,0,0,0,0,0,0,1,1,1,1,1ne   c_ askd(1,1,0,1,1,0,0,0,0,0,0,0ne   c_ askd(0,0,0,0,0,0,0,1,1,1,1,0ne   c_ askd  p
n
  p
ART(12, 3 succ  rOC ai*
 1)
in  sul  p
n
 .t
  p>e puu, verbuuu*
 1)
inpvels0'T "==uuu   sul s%c 4egorie#:',   sul 
inpvels0n
 
inpvels0'Tu puuu   sul s:'oi t st=[[1,1,1,0,1,0,0,0,0,0,0,0]e   c_ ask[0,0,0,0,0,0,0,1,1,0,1,0]e   c_ ask[0,0,0,0,0,1,1,0,0,0,0,0]e   c_ ask[0,0,0,0,0,0.0,0.0,0.6,0.6,0.6,0.6,0.0]  p
**\n"%.3ft stem(m-rc 4egory'=
n
 .3a4egorize(x, verbuuu*
 1)
in#################################################################ng # Tu puARTem(me puu=[(0.5,0.7),(0.3,0.4),(0.2,0.3),(0.91,0 55),(1.0,0.2)  p
n
 =ART(2, 3 succ  rOC ai*
 1)
inpvels0n
 .t
  p>e puu, verbuuu*
 1)
inpvels0"n
 .3a4egorize((0.2, 0.4)) =>", n
 .3a4egorize((0.2,0.4))
inpvels0n
 
in#################################################################ng # Tu puARTem(mfi
 open("letsers.50.iap Cng}

d  a  
  p
e puu a  
  p
pM 
}in 
in f.read}in d(tem(m-r}in 
=r}in .spli i3ntimg}

d  2.0
s# S}in [d])m(m-re puu 2.0
s# S[ist(v) **\nv%.3f
 n [1:]])m(m
 cuuuui3ntinetworkrp
ART(35, vigilpuce=.53ntinetwork.t
  p>e puus[:26], verbuuu*
 1)
innetwork.ca4egorizeA l e puus[26:])
in#################################################################ng # Tu puARTMap:ng #
someireprei##should bhcomeiparO  ;x ha)c####em(mlloort  rieom, gzipng #
loadumrai);')(eturnraior e
inpvels0"Ready(cg);')..."a/ rawD;')=gzip.GzipFr e('mushro
 %d;').gz').read}in d(ta/ rawD;')=[x.spli i3ef  e"%.3fsewD;')]ng #
convsrtexle letsersep40o aebiraeeerepc   ntba)
{ng o  emes=
  p
pM 
")

  puuuulenrsewD;')[d])g  pris   p=
  p
  **\nr%.3fsewD;')  priserx=r[i]m(m-r  i
 x 400..3f   p"f   p2.0
s# Sx)m(m-ro  emes2.0
s# S}isu)  2patserns=
  p
pM 
r%.3fsewD;')  priso   =o  emes[d].index(r[d])m(m-re puu=
  p
  **\n")

  puuuu1,lenrs)g  pris-r);')=r[i]m(m-r  x=[d]*amn(optemes[i] m(m-rm:x[optemes[i].index();'))]=1 -rin 2e puu.exts# Sx)m(m-rpatserns..0
s# S>e puu,o    ta/ raieom.shuff e(patserns)ng #
couls0up how)many fea 40eL  e puus)ainm, how)many #####es (outpuus) p
pea 40eL =samn(patserns[d][d])m(m#####es = amn(optemes[d])m(mnually(cSeOC untw=e20oi t stSeOC untw=e300ng #
t; nraiorrst fewdiseb nrainually(cgs
 
innuallS
  p
patserns[:nually(cSeOC unt]ng #
t; nrainext bunchdiseb nrainu pucotw(400i:
et
t;sca whrieng #
 i
 younuse aebiggerinu pucot...)oi t stSeO p
patserns[nually(cSeOC unt:nually(cSeOC unt+t stSeOC unt]ng #
m; nrainetworkrd bnrndyMai 
inarp
ARTMap(pea 40eL) #,m#####es)oi a.t
  p>nuallS
 , verbuuu*
 1)
inoutpuuse'errOMs = a.t stA l t stS;
soi a.d  ppppConfu#i aMatrsx outpuuse't stS;
s
inpvels0'ErrOMs: %1.2f%%' %'(errOMs*10ntd/lenrt stS;
st
inpvels0a
in#################################################################ng # XORuARTMap:ng n
  p
ARTMap(2, 3 succ  rOC ai*
 1)
inpatsernsi  
([1,1], 8), ([1,8], 1), ([0,1], 1), ([0,0], 8)  p
n
 .t
  p>patserns, verbuuu*
 1)
inpvels0mror.al(n
 .3####ifyRpuuuu)eetudll=2)
inpvels0n
 
in#################################################################ng # letser id nty pc a)
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ARTMap(35, 3 succ  rOC ai*
 0)m(mfpi
 open("letsers.50.iap Cngpau a  
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c apaua  {} p
pM 
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in fpem(m-rc 4egory'=
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ist(num)
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 n [2:].spli i3]m(m-rpats..0
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 1))) p
n
 .t
  p>pats[:26], verbuuu*
 1)
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 .t stA l pats[27:], verbuuu*
 1)
in#n
 .d  ppppConfu#i aMatrsx outpuuse'pats[27:]s
inpvels0'ErrOMs: %1.2f%%' %'(errOMs*10ntd/lenrpats[27:]s)	pyrobot("PYROBincrn
 .. 0100644000076400003100000000071610360363554015354 0up-r   dblankfacultyeturpyrobot."PYRO.conxelloort *
n
  p
Incrc  rOalNetworkr"cascade") #;"parallel"e*\n"cascade"
n
 .. pLayers(2)}2)}
) #;stees
n
 .. pCrieid 4eLayer(8) #;stee
n
 .setInpuus( [[8, 8], [8, 1eer[1, 8], [1, 1e])
n
 .setTarg ts([[8], [1], [1], [0e])
n
 .tolerpuce = .1
sweepiu= 10;
contw=e0lwhrieN400.n
 .3 succ):  prisn
 .t
  p>sweepi p( 
t=( 
tolpo 
n
 .recruitB st(olpo 
contw=e1
n
 ["caieid 4e"].yarr-ew=e0
n
 .d  ppppConnee3al r()
n
 .i CC yarr-ew=e1
n
 .sweep()	pyrobot("PYROBTequence2. 0100644000076400003100000000324010426372772015522 0up-r   dblankfaculty__author__
 0.D uglaLaBlank "
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eturpyrobot."PYRO.conxelloort *
eturpyrobot."PYRO.governOMelloort *
lloort  ys 
#ngoalrorexo rc  mbeMiorrst e puuigivsl .3f pveralrTequences 
pvels0"commnm,
}in 
expee3s: {srna|ngova|nboth}ueauuuI CCgeri# **\n" CC -stimulus wait"

m ai*
  ys.argv[1] #;srn, gov,e*\nboth
eauuu*
 ist( ys.argv[2]) 
#n
  p
SRN()
n
  p
GovernOMSRN(1, hi.	\ yStee=5)
n
 .. pTrreeLayers(1,5,1)
n
 .setInpuus( [[8.0]i+ [8.0]i*ueauuui+ [8.0]e   c_ askd 1phdr
[8.5]i+ [8.0]i*ueauuui+ [8.0]e   c_ askd 1phdr
[1.0]i+ [8.0]i*ueauuui+ [8.0]]) c_ askd 1phdr

n
 .setOutpuus( [[8.0]i+ [8.0]i*ueauuui+ [8.0]e   c_ askd 1phdr

[8.5]i+ [8.0]i*ueauuui+ [8.5]e   c_ askd 1phdr

[1.0]i+ [8.0]i*ueauuui+ [1.0]] )
n
 .setSequenceT   ("ordered-seg  rOed"n
 .3rossV   d a)
{Corpusi= (   c_{"e puu" : [8.0]i+ [8.0]i*ueauuui+ [8.0]e   c_ "outpuu" : [8.0]i+ [8.0]i*ueauuui+ [8.0] },   c_{"e puu" : [8.5]i+ [8.0]i*ueauuui+ [8.0]e   c_ "outpuu" : [8.5]i+ [8.0]i*ueauuui+ [8.5] },   c_{"e puu" : [1.0]i+ [8.0]i*ueauuui+ [8.0]e   c_ "outpuu" : [1.0]i+ [8.0]i*ueauuui+ [1.0] },   c_)
n
 .setUseCrossV   d a)
{ToStop(1)
n
 .setTolerpuce(.2)
n
 .setResetEpoch(1200;n
 .setResetLimit(1)
n
 .setEpsilon(0.25) #;.25
n
 .setMo  rOum(0.;n
 .setReoortR 4e(25)
n
 .decayw=e1
ifexl\ 
 =e"gov"  prisn
 .governy(ci= 1
n)if xl\ 
 =e"srn"  prisn
 .governy(ci= 0 prisn
 .leppni(ci= 1
n)if xl\ 
 =e"both"  prisn
 .governy(ci= 1
prisn
 .leppni(ci= 1

#n
 .setInCC yarr-e(1)
#n
 .t
  pi(cNetwork.setInCC yarr-e(1)
hdr

n
 .t
  p>n
 .setLeppni(c(0)
n
 .setInCC yarr-e(1)
n
 .sweep()	
#nTei##   nc nfbhc pppnedeetuthc pppni(cDuiseRSequencei= 1
#
t;scabout 2100 epochs	pyrobot("PYROBTequence12. 0100644000076400003100000000172210426372772015606 0up-r   dblankfaculty__author__
 0.D uglaLaBlank "
__am, i a__
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eturpyrobot."PYRO.governOMelloort GovernOMSRN
#eturpyrobot."PYRO.conxelloort SRN

mask
  
0]i*g4i+ [8]i*g5i+ [1]i*g4
n
  p
GovernOMSRN(del')(
 0.3, epsilonw=e2.1, hi.	\ ySteei= 5,emask
  mask)
#n
  p
SRN()
n
 .. pTrreeLayers(4,5,4)
n
 .setPatserns({"a" : [1,0,0,0]e   c_ askkkkkkkkkk"b" : [8,1,0,0]e   c_ askkkkkkkkkk"c" : [8,0,1,0]e   c_ askkkkkkkkkk"d" : [8,0,0,1]})
n
 .setInpuus( [["a",k"b",k"b",k"b",k"a",k"d",k"b"]e   c_ askd 1phdr
["a",k"c",k"c",k"c",k"a",k"d",k"c"]] )
#n
 .setInpuus( [["a",k"b",k"a",k"d",k"b"]e #  c_ askd 1phdr
["a",k"c",k"a",k"d",k"c"]] )
n
 .setSequenceT   ("ordered-seg  rOed"n
 ..redict("e puu", "outpuu")
n
 .setInitCont p
(0)
n
 .setTolerpuce(.3)
n
 .setStopPerctis(0.75)
n
 .setResetEpoch(250;n
 .setResetLimit(1)
n
 .setEpsilon(0.05)
n
 .setMo  rOum(0)
n
 .governy(ci= 1
n
 .t
  p>pvels0n
 .ravqn
 .setLeppni(c(0)
n
 .setInCC yarr-e(1)
n
 .sweep()	
pyrobot("PYROBgov2spiral2. 0100644000076400003100000000136410360363554016002 0up-r   dblankfacultyeturpyrobot."PYRO.governOMelloort *

r
 t st(n
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{dse30)em(m-rf  e"%.3fserise  solua)
{)  priseris ow =e""lpo 
  -rf  ey%.3fserise  solua)
{)  priserissssse puuise(x/float(resolua)
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 .propag 4eae puu*
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epi
 open("two-spiral2d a", "r")
e puu a  
  targ t a  
  pM 
}in 
in fpem(m-rd;')(
 .ap(float,r}in .spli i3)m(m-re puu 2.0
s# Srd;')[:2]
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) 
n
 2 p
GovernOMNetworkr5le2.1, 8.01le5le0.2) # 5le2.1, 8.3le5le0.2
n
 2.reoortHi.	\gramsi= 1
n
 2.. pTrreeLayers(2)}
bai1)
n
 2.setInpuus( e puu a)
n
 2.setTarg ts( targ t )
n
 2.tolerpuce = 0.4
n
 2.reoortR 4e =
1
n
 2.t
  p>10pvels0n
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C 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 1
D 1 1 1 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 1 1 1 0
E 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1
F 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0
G 0 1 1 1 0 1 0 0 0 1 1 0 0 0 0 1 0 1 1 1 1 0 0 0 1 1 0 0 0 1 0 1 1 1 0
H 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 1 1 1 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1
I 0 1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0
J 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 1 1 1 1 1
K 1 0 0 0 1 1 0 0 1 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 0 0 1 1 1 0 0 0 1
L 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 1 1 1
M 1 0 0 0 1 1 1 0 1 1 1 0 1 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 1 1
N 1 0 0 0 1 1 1 0 0 1 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 1 0 0 1 1 1 0 0 0 1
O 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 0 1 0 1 0 0 0 1 0 0
P 1 1 1 1 0 1 0 0 0 1 1 0 0 0 1 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0
Q 1 1 1 1 0 1 0 0 1 1 1 0 0 1 1 1 0 0 1 1 1 0 1 1 1 1 0 0 1 1 1 1 1 0 1
R 1 1 1 1 0 1 0 0 0 1 1 0 0 0 1 1 1 1 1 0 1 0 1 0 0 1 0 0 1 0 1 0 0 0 1
S 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1
T 1 1 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0
U 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 1 1 1 1
V 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0
W 1 0 0 0 1 1 0 1 0 1 1 0 1 0 1 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0
X 1 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1
Y 1 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0
Z 1 1 1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1
A 0 0 1 0 0 0 1 0 1 0 1 0 0 0 1 1 1 1 1 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1
B 1 1 1 1 0 1 0 0 0 1 1 0 0 0 1 1 1 1 1 0 1 0 0 0 1 1 0 0 0 1 1 1 1 1 0
C 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 1 1 1
D 1 1 1 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 1 1 1 0
E 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1
F 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 1 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0
G 0 1 1 1 0 1 0 0 0 1 1 0 0 0 0 1 0 1 1 1 1 0 0 0 1 1 0 0 0 1 0 1 1 1 0
H 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 1 1 1 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1
I 0 1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 0
J 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 1 1 1 1 1
K 1 0 0 0 1 1 0 0 1 1 1 0 1 0 0 1 1 0 0 0 1 0 1 0 0 1 0 0 1 1 1 0 0 0 1
L 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 1 1 1 1 1 1
M 1 0 0 0 1 1 1 0 1 1 1 0 1 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 1 1
N 1 0 0 0 1 1 1 0 0 1 1 0 0 0 1 1 0 1 0 1 1 0 0 0 1 1 0 0 1 1 1 0 0 0 1
O 0 1 1 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 0 1 1 1 0
P 1 1 1 1 1 1 0 0 0 1 1 0 0 0 1 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0
Q 1 1 1 1 0 1 0 0 1 1 1 0 0 1 1 1 0 0 1 1 1 0 1 1 1 1 0 0 1 1 1 1 1 0 1
R 1 1 1 1 1 1 0 0 0 1 1 0 0 0 1 1 1 1 1 1 1 0 1 0 0 1 0 0 1 0 1 0 0 0 1
S 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1
T 1 1 1 1 1 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0
U 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 1 1 1 1
V 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0
W 1 0 0 0 1 1 0 1 0 1 1 0 1 0 1 1 0 1 0 1 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0
X 1 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0 0 1 0 1 0 0 1 0 1 0 1 0 0 0 1
Y 1 0 0 0 1 0 1 0 1 0 0 1 0 1 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0
Z 1 1 1 1 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 0 1 1 1 1 1
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˘;*;FĬ'ydzJM;`ԌQϤ/](OHs)^yb^ȳpyrobot/brain/qpencoder.py0100644000076400003100000000401210564221504015655 0ustar  dblankfacultyfrom pyrobot.brain.conx import *
import sys

print "ARGS: input, hidden, trials, e, mu, r, epoch limit, symmetric offset, splitEp?"

inputSize = int(sys.argv[1])
hiddenSize = int(sys.argv[2])
trials = int(sys.argv[3])
e = float(sys.argv[4])
mu = float(sys.argv[5])
r = float(sys.argv[6])
limit = int(sys.argv[7])
symmetric = float(sys.argv[8])
splitEp = float(sys.argv[9])

print "ARGS: input=%d, hidden=%d, trials=%d, e=%f, mu=%f, r=%f, epoch limit=%d, symmetric offset=%f, splitEp=%d" % (
    inputSize, hiddenSize, trials, e, mu, r, limit, symmetric, splitEp)    

def makeReps(net):
    n = net["input"].size
    retval = []
    for i in range(1, n + 1):
        pattern = [(0.0 - net.symmetricOffset)] * n
        pattern[-i] = (1.0 - net.symmetricOffset)
        retval.append(pattern)
    return retval

net = Network()
net.quickprop = 1
net.epsilon = e
net.splitEpsilon = splitEp
net.autoSymmetric = 0 # take care of it here (above in makeReps)
net.hyperbolicError = 1
net.symmetricOffset = symmetric
net.mu = mu
net.maxRandom = r
net.addLayers(inputSize, hiddenSize, inputSize)
net.associate("input", "output")
net.setInputs( makeReps(net) )
net.resetEpoch = limit
net.resetLimit = 1
net.reportRate = 1000000
resetCount = 0
sum = 0
total = 0
minEpoch = 10000000
maxEpoch =-10000000
result = []
while total < trials:
    net.initialize()
    net.train()
    if net.complete:
        total += 1
        sum += net.epoch
        result.append( net.epoch)
        maxEpoch = max(net.epoch, maxEpoch)
        minEpoch = min(net.epoch, minEpoch)
    else:
        resetCount += 1
print "ARGS: input=%d, hidden=%d, trials=%d, e=%f, mu=%f, r=%f, epoch limit=%d, symmetric offset=%f, splitEp=%d" % (
    inputSize, hiddenSize, trials, e, mu, r, limit, symmetric, splitEp)
avg = sum / float(total)
print "Total  : %d" % total
print "Resets : %d" % resetCount
print "Max    : %d" % maxEpoch
print "Min    : %d" % minEpoch
print "Average: %.2f" % avg
sum = 0.0
for val in result:
    sum += (val - avg) ** 2
print "Std dev: %.2f" % math.sqrt(sum / (total - 1))
pyrobot/brain/qptwospirals.py0100644000076400003100000000535010366161010016446 0ustar  dblankfacultyfrom pyrobot.brain.conx import *
import sys

print "ARGS: input, hidden, trials, e, mu, r, epoch limit, symmetric offset, splitEp?"

inputSize = int(sys.argv[1])
hiddenSize = int(sys.argv[2])
trials = int(sys.argv[3])
e = float(sys.argv[4])
mu = float(sys.argv[5])
r = float(sys.argv[6])
limit = int(sys.argv[7])
symmetric = float(sys.argv[8])
splitEp = float(sys.argv[9])

print "ARGS: input=%d, hidden=%d, trials=%d, e=%f, mu=%f, r=%f, epoch limit=%d, symmetric offset=%f, splitEp=%d" % (
    inputSize, hiddenSize, trials, e, mu, r, limit, symmetric, splitEp)    

def test(net, resolution = 30, sum = 0):
    for x in range(resolution):
        row = ""
        if sum:
            size = 1
        else:
            size = net["output"].size
        for i in range(size):
            for y in range(resolution):
                input = (x/float(resolution), y/float(resolution))
                results = net.propagate(input = input)
                if sum:
                    retval = reduce(operator.add, net["output"].activation) / net["output"].size
                else:
                    retval = results[i]
                c = round(retval, 1)
                if c == 1.0:
                    c = "#"
                else:
                    c = str(c * 10)[0]
                row += "%s" % c
            row += "   "
        print row

def train(net, sweeps = 100):
    cont = 0
    test(net)
    net.train(sweeps, cont=cont)
    while not net.complete:
        cont = 1
        test(net)
        net.train(sweeps, cont=cont)

def readData(file = "two-spiral.dat"):
    fp = open(file, "r")
    inputs = []
    targets = []
    for line in fp:
        data = map(float, line.split())
        inputs.append( data[:2] )
        targets.append( data[2:] )
    return inputs, targets

inputs, targets = readData()

net = Network()
net.quickprop = 1
net.epsilon = e
net.splitEpsilon = splitEp
net.autoSymmetric = 1
net.symmetricOffset = symmetric
net.mu = mu
net.maxRandom = r
net.addLayers(inputSize, hiddenSize, 1)
net.setInputs( inputs )
net.setTargets(targets)
net.resetEpoch = limit
net.resetLimit = 1
net.reportRate = 1000000
resetCount = 0
sum = 0
total = 0
minEpoch = 10000000
maxEpoch =-10000000
while total < trials:
    net.initialize()
    train(net, 10)
    if net.complete:
        total += 1
        sum += net.epoch
        maxEpoch = max(net.epoch, maxEpoch)
        minEpoch = min(net.epoch, minEpoch)
    else:
        resetCount += 1
print "ARGS: input=%d, hidden=%d, trials=%d, e=%f, mu=%f, r=%f, epoch limit=%d, symmetric offset=%f, splitEp=%d" % (
    inputSize, hiddenSize, trials, e, mu, r, limit, symmetric, splitEp)    
print "Total:", total
print "Max:", maxEpoch
print "Min:", minEpoch
print "Average:", sum / float(total)
print "Resets:", resetCount
pyrobot/brain/sumXor.py0100644000076400003100000000130210361356277015204 0ustar  dblankfacultyfrom pyrobot.brain.conx import *

inputs = [[0, 0], [0, 1], [1, 0], [1, 1]]
targets= [[0], [1], [1], [0]]

net = SigmaNetwork()
net.addLayers(2, 5, 21) # make the output as large as you like
net.setInputs( inputs )
net.setTargets( targets)
net.tolerance = 0.4
net.reportRate = 500
net.resetEpoch = 300
net.setEpsilon(0.5)
net.setMomentum(.7)

fp = open("sumXor.dat", "w")
for epsilon in [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9]:
    for momentum in [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9]:
        net.setEpsilon(epsilon)
        net.setMomentum(momentum)
        net.initialize()
        net.train()
        print >> fp, epsilon, momentum, net.epoch - 1
        fp.flush()
fp.close()
pyrobot/brain/td.py0100644000076400003100000001006410272077124014313 0ustar  dblankfaculty"""
----------------------------------------------------
A temporal differencing backprop. Part of the
Pyrobot Robotics Project.
Provided under the GNU General Public License.
----------------------------------------------------
(c) 2001-2005, Developmental Robotics Research Group
----------------------------------------------------

This file implements the major classes and functions for
performing Temporal Differencing in Python. Part of the
Pyrobot project.
"""

__author__ = "Robert Casey "
__version__ = "$Revision: 1.1 $"

from Numeric import resize
import itertools

class Temporal_Difference:
    """
    Class which contains Utility Values and performs operations on them
    """
    # constructor
    def __init__(self, sizex, sizey, goal, pits, alpha=0.2):
        self.goal = goal
        self.pits = pits

        self.num_squares_x = sizex
        self.num_squares_y = sizey
        self.alpha = alpha
        
        # self.utility     = resize( 0.0,(self.num_squares_x,self.num_squares_y)); 
        self.reset_utils()
        # self.reward      = resize( 0.0,(self.num_squares_x,self.num_squares_y)); 
        self.reset_reward()
        # self.frequencies = resize(   0,(self.num_squares_x,self.num_squares_y));
        self.reset_frequencies()
        

        
    def reset_utils(self):
        self.utility = resize(0.0,(self.num_squares_x,self.num_squares_y)); 

        for e in self.pits:
            self.utility[e] = -1.0
        e = self.goal
        self.utility[e] = 1.0

    def reset_reward(self):
        self.reward = resize(0.0,(self.num_squares_x,self.num_squares_y))

        self.reward[self.goal] = 100
        for e in self.pits:
            self.reward[e] = -50

    def reset_frequencies(self):
        self.frequencies = resize(0,(self.num_squares_x,self.num_squares_y))

    def get_alpha( self ):
        return self.alpha
    
    def set_alpha( self, new_val ):
        self.alpha = new_val
        
    def running_average( self, util, reward, freq ):
        return ((util * (freq - 1) + reward) / freq)
   
    def do_td( self, p ):
        U = self.utility
        frequencies = self.frequencies
        final_states = self.pits + [self.goal]

        # we want to traverse in reverse!
        p.reverse();
        next_state = p[0]
        # start from end, go until start
        for curr_state in p:
            # update the frequencies of all states in the path
            frequencies[curr_state] = frequencies[curr_state] + 1
            
            if( curr_state in final_states ):
                rew = self.reward[curr_state] - (len(p) * 0) # 2)
                U[curr_state] = round( self.running_average( U[curr_state],
                                                            self.reward[curr_state],
                                                            frequencies[curr_state] ), 10) ;
            else:
                temp = U[next_state]-U[curr_state];
                U[curr_state] = round(U[curr_state] + self.alpha*(self.reward[curr_state] + temp), 10);
                
            # since we're iterating backwards
            next_state = curr_state;

        self.frequencies = frequencies
        self.utility = U

    def get_utility( self, x, y ):
        return self.utility[x][y]


    # returns an RGB string for a given utility value
    def get_utility_color(self, x, y):
        util = self.utility[x][y]

        if util < 0:
            neg = 1
            util *= -1
        else:
            neg = 0

        r = 255
        g = 255 - int( util * 2.55 )
        b = 255 - ( int( util * 2.55 ) * 2 )

        if b < 0:
            b = 0
            
#        print "%d:%d:%d" % ( r,g,b )

        if neg:
            tmp = b
            b = r
            r = tmp

        strr = hex(r)[2:]
        while len(strr) < 2:
            strr = "0" + strr;
        strg = hex(g)[2:]
        while len(strg) < 2:
            strg = "0" + strg;
        strb = hex(b)[2:]
        while len(strb) < 2:
            strb = "0" + strb;


        strcolor = "#" + strr + strg + strb
        return( "c_%2d%2d_%s" % (x, y, strcolor) )
    
pyrobot/brain/two-spiral.c0100644000076400003100000001025110360344105015567 0ustar  dblankfaculty/*       Two-Spirals Benchmark
	 Data Set Generator
	 
	 v1.0
	 By:  Matt White  (mwhite+@cmu.edu)
	 Based on code by Alexis Wieland of MITRE Corporation

	 Usage: a.out  
	   Density defaults to '1'. 
	   Radius defaults to '6.5'.
	   These are the values used in the original benchmark.
	   Changing the density changes the number of data points generated.
	   Changing the radius changes the range of numbers generated.
	 
	 Description
	 ~~~~~~~~~~~
	   This program generates two sets of points, each with 
         96 * density + 1 data points (3 revolutions of 32 times the density
	 plus one end point).  The output of this program is in the standard
	 CMU Neural Network Benchmark format.  For more information, see the 
	 accompanying database file, 'two-spirals'.
*/ 

#include 
#include 
#include 
#include 

#ifndef PI           /* PI is defined on some systems, if it is not, define */
#define PI 3.1416    /*  it to four decimal places.  Good enough for our    */
#endif               /*  purposes.                                          */


/*      Function Prototypes      */

void getCommandLine ( int *, double *, int, char ** );
void printHeader    ( int, double );
void printSet       ( int, double );


int main  ( int argc, char **argv )
{
  int density;        /* Density of the data set to generate */
  double maxRadius;   /* Maximum radius of the data set to generate */

  getCommandLine ( &density, &maxRadius, argc, argv );
  printHeader    ( density, maxRadius );
  printSet       ( density, maxRadius );
}


/*      getCommandLine -  This function reads the values from the command line
	and interprets them.  The first argument is read as the density and the
	second as the radius.  If there is no value for radius, it defaults to
	6.5 while density defaults to 1.  Extra arguments are ignored.
*/

void getCommandLine  ( int *density, double *maxRadius, int argc, char **argv )
{
  if  ( argc < 2 )
    *density = 1;
  else  
    *density = atoi( *(argv+1) );
  if  ( argc < 3 )
    *maxRadius = 6.5;
  else
    *maxRadius = atof( *(argv+2) );
}


/*      printHeader -  This function prints out the header information for the
	data set.  This includes generation time (local), density and radius.
	It also prints the $SETUP segment for the data set.
*/

void printHeader ( int density, double maxRadius )
{
  time_t genTime;

  time( &genTime );
  
  printf  (";Two-Spirals Benchmark\n");
  printf  (";Generated: %s", asctime( localtime( &genTime ) ));
  printf  (";Density:   %d\n", density );
  printf  (";Radius:    %.2f\n\n", maxRadius );
  printf  (";Program by: Matt White  (mwhite+@cmu.edu)\n");
  printf  (";Benchmark by: Alexis Wieland of MITRE Corporation\n");
  printf  (";  Any questions should be directed to neural-bench@cs.cmu.edu.");
  printf  ("\n\n");

  printf  ("$SETUP\n\n");
  printf  ("PROTOCOL: IO;\n");
  printf  ("OFFSET: 0;\n");
  printf  ("INPUTS: 2;\n");
  printf  ("OUTPUTS: 1;\n\n");
  printf  ("IN [1]: CONT {%.2f,-%.2f};\n", maxRadius, maxRadius );
  printf  ("IN [2]: CONT {%.2f,-%.2f};\n\n", maxRadius, maxRadius );
  printf  ("OUT [1]: BINARY;\n\n\n");

  printf  ("$TRAIN\n\n");
}


/*      printSet -  Generates and prints out a data set having the specified
	density and radius.
*/

void printSet  ( int density, double maxRadius )  
{
  int points,      /* Number of interior data points to generate */
      i;           /* Indexing variable */
  double x,        /* x coordinate */
         y,        /* y coordinate */
         angle,    /* Angle to calculate */
         radius;   /* Radius at current iteration */

  points = ( 96 * density ); 
  for  ( i = 0 ; i <= points ; i++ )  {

    /* Angle is based on the iteration * PI/16, divided by point density */
    angle = ( i * PI ) / ( 16.0 * density );

    /* Radius is the maximum radius * the fraction of iterations left */
    radius = maxRadius * ( ( 104 * density ) - i ) / ( 104 * density );

    /* x and y are based upon cos and sin of the current radius */
    x = radius * cos( angle );
    y = radius * sin( angle );

    printf ("%8.5f %8.5f 1.0\n", (x + 6.5)/13.0, (y + 6.0)/12.0 );
    printf ("%8.5f %8.5f 0.0\n", (-x + 6.5)/13.0, (-y + 6.0)/12.0);
  }
}





pyrobot/brain/two-spiral.dat0100644000076400003100000001025410360344105016120 0ustar  dblankfaculty 1.00000  0.50000 1.0
 0.00000  0.50000 0.0
 0.98568  0.60466 1.0
 0.01432  0.39534 0.0
 0.95306  0.70330 1.0
 0.04694  0.29670 0.0
 0.90374  0.79225 1.0
 0.09626  0.20775 0.0
 0.83995  0.86829 1.0
 0.16005  0.13171 0.0
 0.76443  0.92873 1.0
 0.23557  0.07127 0.0
 0.68030  0.97156 1.0
 0.31970  0.02844 0.0
 0.59098  0.99550 1.0
 0.40902  0.00450 0.0
 0.50000  1.00000 1.0
 0.50000  0.00000 0.0
 0.41089  0.98528 1.0
 0.58911  0.01472 0.0
 0.32705  0.95232 1.0
 0.67295  0.04768 0.0
 0.25159  0.90274 1.0
 0.74841  0.09726 0.0
 0.18724  0.83882 1.0
 0.81276  0.16118 0.0
 0.13623  0.76331 1.0
 0.86377  0.23669 0.0
 0.10024  0.67938 1.0
 0.89976  0.32062 0.0
 0.08034  0.59043 1.0
 0.91966  0.40957 0.0
 0.07692  0.50000 1.0
 0.92308  0.50000 0.0
 0.08977  0.41160 1.0
 0.91023  0.58840 0.0
 0.11801  0.32859 1.0
 0.88199  0.67141 0.0
 0.16022  0.25404 1.0
 0.83978  0.74596 0.0
 0.21444  0.19064 1.0
 0.78556  0.80936 0.0
 0.27831  0.14056 1.0
 0.72169  0.85944 0.0
 0.34914  0.10542 1.0
 0.65086  0.89458 0.0
 0.42403  0.08623 1.0
 0.57597  0.91377 0.0
 0.50000  0.08333 1.0
 0.50000  0.91667 0.0
 0.57410  0.09645 1.0
 0.42590  0.90355 0.0
 0.64351  0.12468 1.0
 0.35649  0.87532 0.0
 0.70567  0.16655 1.0
 0.29433  0.83345 0.0
 0.75837  0.22011 1.0
 0.24163  0.77989 0.0
 0.79981  0.28298 1.0
 0.20019  0.71702 0.0
 0.82869  0.35251 1.0
 0.17131  0.64749 0.0
 0.84422  0.42583 1.0
 0.15578  0.57417 0.0
 0.84615  0.50001 1.0
 0.15385  0.49999 0.0
 0.83479  0.57215 1.0
 0.16521  0.42785 0.0
 0.81092  0.63953 1.0
 0.18908  0.36047 0.0
 0.77582  0.69966 1.0
 0.22418  0.30034 0.0
 0.73117  0.75044 1.0
 0.26883  0.24956 0.0
 0.67895  0.79015 1.0
 0.32105  0.20985 0.0
 0.62142  0.81759 1.0
 0.37858  0.18241 0.0
 0.56096  0.83204 1.0
 0.43904  0.16796 0.0
 0.49999  0.83333 1.0
 0.50001  0.16667 0.0
 0.44090  0.82182 1.0
 0.55910  0.17818 0.0
 0.38593  0.79833 1.0
 0.61407  0.20167 0.0
 0.33706  0.76416 1.0
 0.66294  0.23584 0.0
 0.29602  0.72097 1.0
 0.70398  0.27903 0.0
 0.26415  0.67072 1.0
 0.73585  0.32928 0.0
 0.24238  0.61560 1.0
 0.75762  0.38440 0.0
 0.23123  0.55791 1.0
 0.76877  0.44209 0.0
 0.23077  0.49999 1.0
 0.76923  0.50001 0.0
 0.24066  0.44411 1.0
 0.75934  0.55589 0.0
 0.26015  0.39236 1.0
 0.73985  0.60764 0.0
 0.28814  0.34663 1.0
 0.71186  0.65337 0.0
 0.32323  0.30849 1.0
 0.67677  0.69151 0.0
 0.36378  0.27914 1.0
 0.63622  0.72086 0.0
 0.40801  0.25940 1.0
 0.59199  0.74060 0.0
 0.45405  0.24969 1.0
 0.54595  0.75031 0.0
 0.50001  0.25000 1.0
 0.49999  0.75000 0.0
 0.54409  0.25991 1.0
 0.45591  0.74009 0.0
 0.58464  0.27866 1.0
 0.41536  0.72134 0.0
 0.62020  0.30513 1.0
 0.37980  0.69487 0.0
 0.64958  0.33796 1.0
 0.35042  0.66204 0.0
 0.67189  0.37558 1.0
 0.32811  0.62442 0.0
 0.68655  0.41629 1.0
 0.31345  0.58371 0.0
 0.69333  0.45835 1.0
 0.30667  0.54165 0.0
 0.69231  0.50001 1.0
 0.30769  0.49999 0.0
 0.68390  0.53963 1.0
 0.31610  0.46037 0.0
 0.66878  0.57574 1.0
 0.33122  0.42426 0.0
 0.64790  0.60707 1.0
 0.35210  0.39293 0.0
 0.62238  0.63259 1.0
 0.37762  0.36741 0.0
 0.59348  0.65157 1.0
 0.40652  0.34843 0.0
 0.56255  0.66361 1.0
 0.43745  0.33639 0.0
 0.53095  0.66857 1.0
 0.46905  0.33143 0.0
 0.49999  0.66667 1.0
 0.50001  0.33333 0.0
 0.47092  0.65835 1.0
 0.52908  0.34165 0.0
 0.44480  0.64435 1.0
 0.55520  0.35565 0.0
 0.42254  0.62558 1.0
 0.57746  0.37442 0.0
 0.40481  0.60312 1.0
 0.59519  0.39688 0.0
 0.39207  0.57812 1.0
 0.60793  0.42188 0.0
 0.38451  0.55182 1.0
 0.61549  0.44818 0.0
 0.38212  0.52540 1.0
 0.61788  0.47460 0.0
 0.38462  0.50000 1.0
 0.61538  0.50000 0.0
 0.39155  0.47663 1.0
 0.60845  0.52337 0.0
 0.40228  0.45615 1.0
 0.59772  0.54385 0.0
 0.41606  0.43923 1.0
 0.58394  0.56077 0.0
 0.43201  0.42634 1.0
 0.56799  0.57366 0.0
 0.44925  0.41772 1.0
 0.55075  0.58228 0.0
 0.46689  0.41338 1.0
 0.53311  0.58662 0.0
 0.48406  0.41316 1.0
 0.51594  0.58684 0.0
 0.50000  0.41667 1.0
 0.50000  0.58333 0.0
 0.51407  0.42338 1.0
 0.48593  0.57662 0.0
 0.52576  0.43263 1.0
 0.47424  0.56737 0.0
 0.53473  0.44370 1.0
 0.46527  0.55630 0.0
 0.54080  0.45581 1.0
 0.45920  0.54419 0.0
 0.54397  0.46817 1.0
 0.45603  0.53183 0.0
 0.54442  0.48007 1.0
 0.45558  0.51993 0.0
 0.54244  0.49086 1.0
 0.45756  0.50914 0.0
 0.53846  0.50000 1.0
 0.46154  0.50000 0.0
pyrobot/brain/twospiral.py0100644000076400003100000000502110367446007015732 0ustar  dblankfacultyfrom pyrobot.brain.conx import *
from pyrobot.brain.governor import *

def test(net, resolution = 30, sum = 0):
    if "candidate" in [layer.name for layer in net.layers]:
        net["candidate"].active = 0
    for x in range(resolution):
        row = ""
        if sum:
            size = 1
        else:
            size = net["output"].size
        for i in range(size):
            for y in range(resolution):
                input = (x/float(resolution), y/float(resolution))
                results = net.propagate(input = input)
                if sum:
                    retval = reduce(operator.add, net["output"].activation) / net["output"].size
                else:
                    retval = results[i]
                c = round(retval, 1)
                if c == 1.0:
                    c = "#"
                else:
                    c = str(c * 10)[0]
                row += "%s" % c
            row += "   "
        print row
    if "candidate" in [layer.name for layer in net.layers]:
        net["candidate"].active = 1

def train(net, sweeps = 100, recruit = 0):
    if "candidate" in [layer.name for layer in net.layers]:
        net["candidate"].active = 1
    cont = 0
    test(net)
    while not net.complete:
        net.train(sweeps, cont=cont)
        if recruit:
            net.recruitBest()
        test(net)
        cont = 1

fp = open("two-spiral.dat", "r")
inputs = []
targets = []
for line in fp:
    data = map(float, line.split())
    inputs.append( data[:2] )
    targets.append( data[2:] )

net0 = IncrementalNetwork()
net0.addLayers(2, 1)
net0.setInputs( inputs )
net0.setTargets( targets)
net0.tolerance = 0.4
net0.addCandidateLayer(4)
net0.reportRate = 100
#train(net0, 500, recruit=1)

net2 = GovernorNetwork(5, 2.1, 0.01, 5, 0.2) # 5, 2.1, 0.3, 5, 0.2
net2.reportHistograms = 1
net2.addThreeLayers(2, 10, 1)
net2.setInputs( inputs )
net2.setTargets( targets)
net2.tolerance = 0.4
net2.reportRate = 5
net2.doWhile = lambda a, b: 1
#train(net2)
#print net2.ravq

net3 = Network()
net3.addLayers(2, 10, 10, 1)
net3.setInputs( inputs )
net3.setTargets( targets)
net3.tolerance = 0.4
net3.batch = 1
net3.reportRate = 10
train(net3)

class MyNetwork(Network):
    def getData(self, i):
        patterns = {1.0: [1.0, 0.0], 0.0: [0.0, 1.0]}
        data = {}
        data["input"] = self.inputs[i]
        data["output"] = patterns[self.targets[i][0]]
        return data

net4 = MyNetwork()
net4.addLayers(2, 10, 10, 2)
net4.setInputs( inputs )
net4.setTargets( targets)
net4.tolerance = 0.4
net4.reportRate = 100
#train(net4, 100)
pyrobot/brain/xormedley.py0100644000076400003100000000717510365064032015722 0ustar  dblankfacultyfrom pyrobot.brain.conx import *
from pyrobot.brain.governor import *

ep = 0.5
mo = 0.975

def test(net, resolution = 30, sum = 0):
    print "Testing:", net.name
    if "candidate" in [layer.name for layer in net.layers]:
        net["candidate"].active = 0
    for x in range(resolution):
        row = ""
        if sum:
            size = 1
        else:
            size = net["output"].size
        for i in range(size):
            for y in range(resolution):
                input = (x/float(resolution), y/float(resolution))
                if net.symmetricOffset:
                    input = map(lambda x: x - 0.5, input)
                results = net.propagate(input = input)
                if sum:
                    retval = reduce(operator.add, net["output"].activation) / net["output"].size
                else:
                    retval = results[i]
                c = round(retval, 1)
                if c == 1.0:
                    c = "#"
                else:
                    c = str(c * 10)[0]
                row += "%s" % c
            row += "   "
        print row
    if "candidate" in [layer.name for layer in net.layers]:
        net["candidate"].active = 1

def train(net, sweeps = 100, recruit = 0, resolution = 30):
    print "*" * 65
    print net.name
    if "candidate" in [layer.name for layer in net.layers]:
        net["candidate"].active = 1
    cont = 0
    test(net, resolution)
    while not net.complete:
        net.train(sweeps, cont=cont)
        if recruit:
            net.recruitBest()
        print net.name, net.complete
        test(net, resolution)
        cont = 1
    return net.name, net.epoch

inputs = [[0, 0], [0, 1], [1, 0], [1, 1]]
targets= [[0], [1], [1], [0]]

results = []

net5 = Network()
net5.addLayers(2, 2, 1)
net5.quickprop = 1    # this line needs to be right here, for now
net5.setInputs( inputs )
net5.setTargets( targets)
net5.tolerance = 0.4
net5.reportRate = 5
net5.setBatch(1)
results.append(train(net5))

net0 = IncrementalNetwork()
net0.addLayers(2, 1)
net0.setInputs( inputs )
net0.setTargets( targets)
net0.tolerance = 0.4
net0.addCandidateLayer(4)
net0.reportRate = 100
results.append(train(net0, 750, recruit=1))

net1 = SigmaNetwork()
net1.addLayers(2, 5, 5)
net1.setInputs( inputs )
net1.setTargets( targets)
net1.tolerance = 0.4
net1.reportRate = 100
results.append(train(net1, 500, resolution=10))

net2 = GovernorNetwork(5, 2.1, 0.01, 5, 0.2) # 5, 2.1, 0.3, 5, 0.2
net2.reportHistograms = 1
net2.addThreeLayers(2, 10, 1)
net2.setInputs( inputs )
net2.setTargets( targets)
net2.tolerance = 0.4
net2.reportRate = 100

def notAllDone(a, b):
    net2.learning = 0
    net2.governing = 0
    correct = 0
    for i in range(4):
        results = net2.propagate(input = inputs[i])
        if abs(results[0] - targets[i][0]) < net2.tolerance:
            correct += 1
    net2.learning = 1
    net2.governing = 1
    return correct != 4

net2.doWhile = notAllDone
results.append(train(net2))
print net2.ravq

net3 = Network()
net3.addLayers(2, 2, 1)
net3.setInputs( inputs )
net3.setTargets( targets)
net3.tolerance = 0.4
net3.reportRate = 500
net3.setEpsilon(ep)
net3.setMomentum(mo)
results.append(train(net3))

class MyNetwork(Network):
    def getData(self, i):
        patterns = {1.0: [1.0, 0.0], 0.0: [0.0, 1.0]}
        data = {}
        data["input"] = self.inputs[i]
        data["output"] = patterns[self.targets[i][0]]
        return data

net4 = MyNetwork()
net4.addLayers(2, 10, 2)
net4.setInputs( inputs )
net4.setTargets( targets)
net4.tolerance = 0.4
net4.reportRate = 500
net4.setEpsilon(ep)
net4.setMomentum(mo)
results.append(train(net4, 500))

for (name, epoch) in results:
    print name, epoch

pyrobot/brain/cascor.py0100644000076400003100000006575510473111503015170 0ustar  dblankfacultyfrom pyrobot.brain.conx import *
import math

__author__  = "George Dahl "
__version__ = "$Revision: 1.29 $"

def findMax(seq):
    """
    Returns the index of the maximum value in the sequence.
    """
    bestSoFar = 0
    for i in range(len(seq)-1):
        if seq[i+1] > seq[bestSoFar]:
            bestSoFar = i+1
    return bestSoFar

def findMin(seq):
    """
    Returns the index of the minimum value in the sequence.
    """
    bestSoFar = 0
    for i in range(len(seq)-1):
        if seq[i+1] < seq[bestSoFar]:
            bestSoFar = i+1
    return bestSoFar

class CascorNetwork(Network):
    """
    This network implements the cascade-correlation training method.
    """
    def __init__(self, inputLayerSize = 0, outputLayerSize = 0, patience = 12, maxOutputEpochs = 200, maxCandEpochs = 200,
                 name = 'Cascor Network', verbosity = 0):
        Network.__init__(self, name, verbosity)
        self.incrType = "cascade" # only "cascade" is supported at the moment
        self.setQuickprop(1)
        if inputLayerSize != 0 and outputLayerSize != 0:
            self.addLayers(inputLayerSize, outputLayerSize)
            self.candEpsilon = inputLayerSize * 0.6 # 2.0
        else:
            self.candEpsilon = None
        self.outputEpsilon = 0.7
        self.outputMu = 2.0
        self.candMu = 2.0
        #Fahlman had 0.01 and 0.03
        self.outputChangeThreshold = 0.01
        self.candChangeThreshold = 0.03
        self.outputDecay = -0.001
        self.candDecay = -0.001
        self.quitEpoch = patience
        self.patience = patience
        self.splitEpsilon = 0 #we will handle this manually since it is different for input and output phases
        self.previousError = sys.maxint
        self.maxOutputEpochs = maxOutputEpochs #perhaps duplicates the purpose of a datamember that already exists?
        self.maxCandEpochs = maxCandEpochs
        self.sigmoid_prime_offset = 0.001#0.0001
        self.sig_prime_offset_copy = self.sigmoid_prime_offset
        self.candreportRate = self.reportRate
        self.correlations = []
        self.autoSaveNetworkFile = "cascor-??.net"
        self.switchToOutputParams()

    def displayCorrelations(self):
        fromColWidth = 15
        colWidth = 8
        decimals = 2
        layer = self["candidate"]
        # top bar
        line = ("=" * fromColWidth) + "="
        for i in range(layer.size):
            line += ("=" * colWidth) + "="
        print line
        # to layer name:
        line = " " * fromColWidth + "|" + pad(layer.name, (colWidth * layer.size) + (layer.size - 1), align="center", )
        print line
        # sep bar:
        line = ("-" * fromColWidth) + "+"
        for i in range(layer.size):
            line += ("-" * colWidth) + "+"
        print line
        # col header:
        line = pad("correlations", fromColWidth, align="center")
        for i in range(layer.size):
            line += pad(str(i), colWidth, align = "center")
        print line
        # sep bar:
        line = ("-" * fromColWidth) + "+"
        for i in range(layer.size):
            line += ("-" * colWidth) + "+"
        print line
        # correlations:
        for i in range(self["output"].size):
            line = pad(str(i), fromColWidth, align = "center")
            for j in range(layer.size):
                line += pad(("%." + str(decimals) + "f") % self.correlations[i][j], colWidth, align = "right")
            print line
        # bottom bar:
        line = ("=" * fromColWidth) + "="
        for i in range(layer.size):
            line += ("=" * colWidth) + "="
        print line
                    
    def displayConnections(self, title = "Cascade Connections"):
        Network.displayConnections(self, title)
        self.displayCorrelations()
        
    def displayNet(self):
        """
        Displays the weights of the network in a way similar to how Fahlman's code
        stores them.
        """
        print "Output weights:"
        print self["output"].weight[0]
        for r in range(len(self["input","output"].weight[0])):
            for c in range(len(self["input","output"].weight)):
                print self["input","output"].weight[c][r]
        #print hidden to output weights
        for layer in self:
            if layer.type == "Hidden":
                #print len(self["input","output"].weight)+1,self[layer.name, "output"].weight[0][0]
                print self[layer.name, "output"].weight[0][0]
        #print input to hidden weights and hidden to hidden weights
        print "Weights incident on hidden units"
        for layer in self:
            if layer.type == "Hidden":
                print layer.name[-1],layer.weight[0]
                for connection in self.connections:
                    if connection.toLayer.name == layer.name:
                        for r in range(len(connection.weight[0])):
                            for c in range(len(connection.weight)):
                                print layer.name[-1], connection.weight[c][r]
    def setSigmoid_prime_offset(self, value):
        self.sigmoid_prime_offset = value
        self.sig_prime_offset_copy = self.sigmoid_prime_offset
    def switchToOutputParams(self):
        """
        This function must be called before trainOutputs is called since the output training phase
        accepts and sometimes requires different parameters than the candidate training phase.
        """
        self.sigmoid_prime_offset = self.sig_prime_offset_copy #restore the original sigmoid prime offset
        self.epsilon = self.outputEpsilon
        self.mu = self.outputMu
        self.changeThreshold = self.outputChangeThreshold
        self.decay = self.outputDecay
    def switchToCandidateParams(self):
        """
        This function must be called before trainCandidates is called.  It switches the various learning parameters to their
        values for the candidate training phase and makes sure the sigmoid prime offset is zero during candidate
        training.
        """
        #+1.0 for bias, should be fan in for candidate layer#this is what Fahlman does?
        #we basically do the 'split epsilon' trick, but only for candidate training and we do it manually
        self["candidate"].active = 1
        if self.candEpsilon == None:
            self.candEpsilon = self["input"].size * 0.6
        self.epsilon = self.candEpsilon / self.numConnects("candidate")
        self.sig_prime_offset_copy = self.sigmoid_prime_offset #store the sigmoid prime offset for later recovery
        self.sigmoid_prime_offset = 0.0 #necessary because a non zero prime offset may confuse correlation machinery
        self.mu = self.candMu
        self.changeThreshold = self.candChangeThreshold
        self.decay = self.candDecay
    def setup(self):
        #self.setSeed(113) #FOR DEBUGGING ONLY, DISABLE WHEN DEBUGGING COMPLETE
        pass
    def train(self, maxHidden):
        self.totalEpoch = 0
        self.maxHidden = maxHidden
        cont = 1
        self.switchToOutputParams()
        while (not self.done()) and self.trainOutputs(self.maxOutputEpochs, cont): #add hidden units until we give up or win
            self.epoch = 0
            if self.autoSaveNetworkFile != None:
                self.saveNetworkToFile(self.autoSaveNetworkFile, mode = self.autoSaveNetworkFileFormat, counter = len(self) - 3)
                self.Print("   Saving network to '%s'..." % self.lastAutoSaveNetworkFilename)
            self.switchToCandidateParams()
            best = self.trainCandidates()
            self.switchToOutputParams()
            self.recruit(best)
            act = self["output"]
            self["output"].active = 1
            self.setCache(1)
            self["output"].active = act
            print len(self)-3, " Hidden nodes"
        if len(self)-3 == self.maxHidden:
            self.trainOutputs(self.maxOutputEpochs, cont)
        self.saveNetworkToFile(self.autoSaveNetworkFile, mode = self.autoSaveNetworkFileFormat, counter = len(self) - 3)
        self.Print("   Saving network to '%s'..." % self.lastAutoSaveNetworkFilename)
        print "Total epochs:", self.totalEpoch
    def trainCandidates(self):
        """ This function trains the candidate layer to maximize its
        correlation with the output errors.  The way this is done is
        by setting weight error derivatives for connections and layers
        and assuming the change_weights function will update the
        weights appropriately based on those data members.  """
        print "Candidate phase ------------------------------------"
        self["output"].active = 1 #we need the output error, etc. so the output layer must be active during propagation
        self["candidate"].active = 1 #candidate should be active throughout this function

        #E_po will hold a list of errors for each pattern for each output unit, E_po[i][j] will be error
        #          of jth output on ith pattern in the load order
        #E_o_avg is the mean of E_po over the different patterns
        #outputs[i][j] is the output of the jth output unit on the ith pattern
        E_po, E_o_avg, outputs, layerActivations = self.computeDataFromProp()

        numCandidates = len(self["candidate"])
        incomingConnections = [connection for connection in self.connections if connection.toLayer.name=="candidate"]
        numOutputs = len(outputs[0])

        ep = 0
        self.quitEpoch = self.patience
        previousBest = 0 #best candidate correlation on last iteration

        #we need to get the initial correlations to know what direction to update the weights in
        ###################################################### equivalent to Fahlman's correlation epoch function
        V_p, netInptToCnd = self.computeChangingDataFromProp(layerActivations)
        V_avg = Numeric.sum(V_p)/len(V_p)
        S_co = self.computeFahlmanS_co(V_p, V_avg, E_po, E_o_avg)
        S_co = -1.0 * S_co
        #sigma_o[i][j] is the sign of the correlation between the ith candidate and the jth output
        sigma_o = Numeric.sign(S_co)
        ######################################################

        while ep < self.maxCandEpochs and ep < self.quitEpoch:
            #V sub p on page 5 of Fahlman's paper "The Cascade-Correlation Learning Architecture (1991)"
            #will hold  a list of activations for each candidate for each training pattern, each row a
            #           different pattern, each column a different candidate
            #
            #no need to reactivate output layer here since we don't need to recompute any data about its propagation status
            V_p, netInptToCnd = self.computeChangingDataFromProp(layerActivations)
            V_avg = Numeric.sum(V_p)/len(V_p)
            
            sumSqErr = [Numeric.sum(Numeric.multiply(E_po[:,j], E_po[:,j])) for j in range(numOutputs)] ##does this help?
            for c in range(numCandidates): #for every candidate unit in the layer, get ready to train the bias weight
                #recompute dSdw for the bias weight for this candidate
                dSdw_bias = Numeric.sum( [Numeric.sum([sigma_o[i][c]*(E_po[p][i] - E_o_avg[i])*self.actDeriv(netInptToCnd[p][c]) \
                                                       for p in self.loadOrder]) for i in range(numOutputs)] )
                #dSdw_bias = Numeric.divide(dSdw_bias, sumSqErr) ##is this what fahlman does?
                self.updateCandidateLayer(dSdw_bias, c)
            for conxn in incomingConnections: #for every connection going into the candidate layer, prepare to train the weights
                #dSdw[i][j] is the derivative of S for the ith, jth weight of the current connection
                dSdw = self.compute_dSdw(sigma_o, E_po, E_o_avg, netInptToCnd, layerActivations, conxn)
                #dSdw = Numeric.divide(dSdw, sumSqErr)
                self.updateConnection(conxn, dSdw)
            #deactivate output layer here so we don't change its weights
            self["output"].active = 0
            self.change_weights() #change incoming connection weights and bias weights for the entire candidate layer

            #My original code for computing S_c has been replaced by something more like Fahlman's implementation and less like his paper
            #S_c is a list of the covariances for each candidate, or
            #Fahlman's 'S' quantity, computed for each candidate unit
            #perhaps construction of uneccesary temporary lists could be avoided with
            #generator expressions, but Numeric.sum doesn't seem to
            #fold a generator expression
            #S_c = self.computeS_c(V_p, V_avg, E_po, E_o_avg)
            #best = findMax(S_c)

            S_co = self.computeFahlmanS_co(V_p, V_avg, E_po, E_o_avg)
            #sign error when compared with Fahlman,  from our different convention for err (goal - actual or actual - goal)
            #Our quickprop rule is negated from what Fahlman has in his Cascade-correlation code (but not in his quickprop code?)
            #
            #We only use S_c to pick what we recruit so we need to fix its sign, alternatively we could probably find a min instead of a max
            #  but that obfuscates the intent and motivation of the algorithm even more
            S_co = -1.0 * S_co
            S_c = Numeric.sum(S_co)
            best = findMax([abs(cr) for cr in S_c])
            bestScore = abs(S_c[best])
            sigma_o = Numeric.sign(S_co)
            ep += 1
            self.totalEpoch += 1
            self.cor = S_co[:,best] #need to save this for in order to know a good initial weight from the newly recruited candidate to
            #                        the output layer
            self.correlations = S_co
            if ep == 1:
                previousBest = bestScore
            else:
                #if there is an appreciable change in the error we don't need to worry about stagnation
                if abs(bestScore - previousBest) > previousBest*self.changeThreshold:
                    self.quitEpoch = ep + self.patience
                    previousBest = bestScore
            if ep % self.candreportRate == 0: #simplified candidate epoch reporting mechanism
                print "Epoch: %6d | Candidate Epoch: %7d | Best score: %7.4f" % (self.totalEpoch, ep, previousBest)
        #self.totalEpoch += ep
        return best #return the index of the candidate we should recruit
    def updateCandidateLayer(self, dSdw_bias, c):
        """
        Updates the information used in changing the bias weight for the cth candidate unit in the candidate layer.
        """
        #let g(x) = -f(x), dg/dx = -df/dx since we maximize correlation (S) but minimize error
        self["candidate"].wed[c] = -1.0*dSdw_bias + self["candidate"].weight[c] * self.decay
    def updateConnection(self, conxn, dSdw):
        self[conxn.fromLayer.name, conxn.toLayer.name].wed = -1.0* dSdw +conxn.weight*self.decay
    def computeDataFromProp(self):
        """
        Computes data based on propagation that need not be recomputed between candidate weight changes.
        """
        self.setLayerVerification(0)
        E_po, outputs = [0 for i in self.loadOrder], [0 for i in self.loadOrder]
        layerActivations = {}
        for i in self.loadOrder: #for each training pattern, save all the information that will be needed later
            self.propagate(**self.getData(i))
            for layer in self.layers:
                if layer.name not in ("candidate", "output"):
                    layerActivations[(i, layer.name)] = layer.activation
            E_po[i] = self.errorFunction(self["output"].target, self["output"].activation) #need not be recomputed later
            outputs[i] = self["output"].activation #need not be recomputed later
        E_o_avg = [E/len(E_po) for E in Numeric.sum(E_po)] # list of the average error over all patterns for each output
        return (Numeric.array(E_po), Numeric.array(E_o_avg), Numeric.array(outputs), layerActivations)
    def computeChangingDataFromProp(self, layerActivations):
        """
        Computes data based on propagation that needs to be recomputed between candidate weight changes.
        """
        # passes in layerActivations so that we could take advantage, but don't yet
        # initial experiments should that this slowed down processing
        V_p, netInptToCnd = [0 for i in self.loadOrder], [0 for i in self.loadOrder]
        for i in self.loadOrder:
            self.propagate(**self.getData(i))
            netInptToCnd[i] = self["candidate"].netinput
            V_p[i] = [neuron.activation for neuron in self["candidate"]]
        return (Numeric.array(V_p), Numeric.array(netInptToCnd))
    def computeS_c(self, V_p, V_avg, E_po, E_o_avg):
        """
        S_c is a list of the covariances for each candidate, or
        Fahlman's 'S' quantity, computed for each candidate unit
        perhaps construction of uneccesary temporary lists could be avoided with
        generator expressions, but Numeric.sum doesn't seem to
        evaluate a generator expression
        """
        return Numeric.sum(Numeric.fabs(Numeric.sum(
            [[Numeric.multiply( Numeric.subtract(V_p[i], V_avg), E_po[i][j] - E_o_avg[j])  
                for j in range(len(E_po[0])) ] for i in range(len(V_p)) ])))
    def computeFahlmanS_co(self, V_p, V_avg, E_po, E_o_avg):
        return (Numeric.array([Numeric.sum(Numeric.transpose(Numeric.multiply(Numeric.transpose(V_p), E_po[:,c]))) \
                               for c in range(len(E_po[0]))]) - V_avg*E_o_avg)/Numeric.sum(Numeric.sum(E_po*E_po))
    def compute_dSdw(self, sigma_o, E_po, E_o_avg, netInptToCnd, layerActivations, conxn):
        """
        Computes dSdW for a specific connection to the candidate layer.
        """
        numOutputs = len(E_po[0])
        return Numeric.array([[Numeric.sum( [Numeric.sum( \
                    [sigma_o[i][col]*(E_po[p][i] - E_o_avg[i])*self.actDeriv( netInptToCnd[p][col] )*layerActivations[(p, conxn.fromLayer.name)][row] \
                     for p in self.loadOrder]) for i in range(numOutputs)] ) \
                                 for col in range(len(conxn.weight[0]))] for row in range(len(conxn.weight))])
        
    def done(self):
        return len(self) >= (self.maxHidden + 3)
    def trainOutputs(self, sweeps, cont = 0):
        """
        Trains the outputs until self.patience epochs have gone by since a noticable change in the error,
        error drops below the threshold (either self.stopPercent or cross validation if self.useCrossValidationToStop
        is set), or a maximum number of training epochs have been performed.
        """
        print "Output phase    ------------------------------------"
        self["output"].active = 1 #make sure output layer is active, afterall, that is what we are training in this function
        self["candidate"].active = 0 #in fact, don't let the candidate layer do anything!  Hopefully this won't cause problems
        self.quitEpoch = self.patience
        for layer in self.layers:
            layer.wedLast = Numeric.zeros(layer.size, 'f')
            layer.dweight = Numeric.zeros(layer.size, 'f')
        for connection in self.connections:
            connection.wedLast =  Numeric.zeros((connection.fromLayer.size, connection.toLayer.size), 'f')
            connection.dweight =  Numeric.zeros((connection.fromLayer.size, connection.toLayer.size), 'f')
        # check architecture
        self.complete = 0
        self.verifyArchitecture()
        tssErr = 0.0; rmsErr = 0.0; totalCorrect = 0; totalCount = 1; totalPCorrect = {}
        if not cont: # starting afresh
            self.resetFlags()
            self.epoch = 0
            self.reportStart()
            self.resetCount = 1
            self.epoch = 1
            self.lastLowestTSSError = sys.maxint # some maximum value (not all pythons have Infinity)
            if sweeps != None:
                self.resetEpoch = sweeps
        else:
            if sweeps != None:
                self.resetEpoch = self.epoch + sweeps - 1
        while self.doWhile(totalCount, totalCorrect):
            (tssErr, totalCorrect, totalCount, totalPCorrect) = self.sweep()
            self.complete = 1
            if totalCount != 0:
                rmsErr = math.sqrt(tssErr / totalCount)
            else:
                self.Print("Warning: sweep didn't do anything!")
            if self.epoch % self.reportRate == 0:
                self.reportEpoch(self.epoch, tssErr, totalCorrect, totalCount, rmsErr, totalPCorrect)
                if len(self.crossValidationCorpus) > 0 or self.autoCrossValidation:
                    (tssCVErr, totalCVCorrect, totalCVCount, totalCVPCorrect) = self.sweepCrossValidation()
                    rmsCVErr = math.sqrt(tssCVErr / totalCVCount)
                    self.Print("CV    #%6d | TSS Error: %.4f | Correct: %.4f | RMS Error: %.4f" % \
                               (self.epoch, tssCVErr, totalCVCorrect * 1.0 / totalCVCount, rmsCVErr))
                    if self.autoSaveWeightsFile != None and tssCVErr < self.lastLowestTSSError:
                        self.lastLowestTSSError = tssCVErr
                        self.saveWeightsToFile(self.autoSaveWeightsFile)
                        self.Print("auto saving weights to '%s'..." % self.autoSaveWeightsFile)
                    if totalCVCorrect * 1.0 / totalCVCount >= self.stopPercent and self.useCrossValidationToStop:
                        self.epoch += 1
                        self.totalEpoch += 1
                        break
            if self.resetEpoch == self.epoch:
                self.Print("Reset limit reached; ending without reaching goal")
                self.epoch += 1
                self.totalEpoch += 1
                self.complete = 0
                break
            self.epoch += 1
            self.totalEpoch += 1
            ################
            #if there is an appreciable change in the error we don't need to worry about stagnation
            if abs(tssErr - self.previousError) > self.previousError*self.changeThreshold:
                self.previousError = tssErr
                self.quitEpoch = self.epoch + self.patience
            elif self.epoch == self.quitEpoch:
                break #stagnation occured, stop training the outputs
            ################
        #print "----------------------------------------------------"
        if totalCount > 0:
            self.reportFinal(self.epoch, tssErr, totalCorrect, totalCount, rmsErr, totalPCorrect)
            if len(self.crossValidationCorpus) > 0 or self.autoCrossValidation:
                (tssCVErr, totalCVCorrect, totalCVCount, totalCVPCorrect) = self.sweepCrossValidation()
                rmsCVErr = math.sqrt(tssCVErr / totalCVCount)
                self.Print("CV    #%6d | TSS Error: %.4f | Correct: %.4f | RMS Error: %.4f" % \
                           (self.epoch-1, tssCVErr, totalCVCorrect * 1.0 / totalCVCount, rmsCVErr))
                if self.autoSaveWeightsFile != None and tssCVErr < self.lastLowestTSSError:
                    self.lastLowestTSSError = tssCVErr
                    self.saveWeightsToFile(self.autoSaveWeightsFile)
                    self.Print("auto saving weights to '%s'..." % self.autoSaveWeightsFile)
        else:
            print "Final: nothing done"
        #print "----------------------------------------------------"
        #self.totalEpoch += self.epoch
        return (totalCorrect * 1.0 / totalCount <  self.stopPercent) #true means we continue
    
    def addCandidateLayer(self, size=8):
        """
        Adds a candidate layer for recruiting the new hidden layer cascade
        node. Connect it up to all layers except outputs.
        """
        self.addLayer("candidate", size, position = -1)
        for layer in self:
            if layer.type != "Output" and layer.name != "candidate":
                self.connectAt(layer.name, "candidate", position = -1)
        self.correlations = [[0.0 for n in range(size)] for m in range(self["input"].size)] # initialize corrleations (for printing)
    def recruit(self, n):
        """
        Grab the Nth candidate node and all incoming weights and make it
        a layer unto itself. New layer is a frozen layer.
        """
        print "Recruiting candidate: %d, correlation(s): %s" % (n, self.correlations[:,n])
        # first, add the new layer:
        hcount = 0
        for layer in self:
            if layer.type == "Hidden": 
                hcount += 1
        hname = "hidden%d" % hcount
        hsize = 1 # wonder what would happen if we added more than 1?
        self.addLayer(hname, hsize, position = -2)
        # copy all of the relevant data:
        for i in range(hsize):
            self[hname].dweight[i] = self["candidate"].dweight[i + n]
            self[hname].weight[i] = self["candidate"].weight[i + n]
            self[hname].wed[i] = self["candidate"].wed[i + n]
            self[hname].wedLast[i] = self["candidate"].wedLast[i + n]
        self[hname].frozen = 1 # don't change these biases
        #in case we are using a different activation function
        #     the fact that this code needs to be here is indicative of a poor design in Conx
        self[hname].minTarget, self[hname].minActivation = self["candidate"].minTarget, self["candidate"].minActivation
        # first, connect up input
        for layer in self: 
            if layer.type == "Input" and layer.name != hname: # includes contexts
                self.connectAt(layer.name, hname, position = 1)
                self[layer.name, hname].frozen = 1 # don't change incoming weights
        # next add hidden connections
        if self.incrType == "cascade": # or parallel
            for layer in self: 
                if layer.type == "Hidden" and layer.name not in [hname, "candidate"]: 
                    self.connectAt(layer.name, hname, position = -1)
                    self[layer.name, hname].frozen = 1 # don't change incoming weights
        # and then output connections
        for layer in self: 
            if layer.type == "Output" and layer.name not in ["candidate", hname]: 
                self.connectAt(hname, layer.name, position = -1)
                # not frozen! Can change these hidden to the output
        # now, let's copy the weights, and randomize the old ones:
        for c in self.connections:
            if c.toLayer.name == "candidate":
                for i in range(hsize):
                    for j in range(c.fromLayer.size):
                        if self.isConnected(c.fromLayer.name, hname):
                            self[c.fromLayer.name, hname][j][i] = self[c.fromLayer.name, "candidate"][j][i + n]
                if self.isConnected(c.fromLayer.name, hname):
                    self[c.fromLayer.name, "candidate"].randomize(1)
            elif c.fromLayer.name == "candidate":
                for i in range(c.toLayer.size):
                    for j in range(hsize):
                        if self.isConnected(hname, c.toLayer.name):
                            self[hname, c.toLayer.name][j][i] = self["candidate", c.toLayer.name][j + n][i]
                if self.isConnected(hname, c.toLayer.name):
                    self["candidate", c.toLayer.name].randomize(1)
        self["candidate"].randomize(1)
        # finally, connect new hidden to candidate
        self.connectAt(hname, "candidate", position = -1)
        self[hname, "output"].weight = Numeric.array( [ -1.0 * self.cor ])

pyrobot/brain/gng.py0100644000076400003100000002221410446405477014470 0ustar  dblankfacultyfrom math import *
from random import *

__author__ = "Jenny Barry"
__version__ = "$Revision: 1.3 $"

class Node:

    def __init__(self, index, modelVector):
        self.modelVector = modelVector
        self.edges = []
        self.error = 0
        self.index = index

    def __str__(self):
        result = "Node # "+str(self.index)+ \
                 "\nModel vector: "+str(self.modelVector)+"\nEdges:\n"
        for i in range(len(self.edges)):
            result+= "\t"+str(self.edges[i])+"\n"
        result+="Error: "+str(self.error)
        return result

class Edge:

    def __init__(self, node1, node2):
        self.node1 = node1
        self.node2 = node2
        self.age = 0

    def __str__(self):
        result = "Node "+str(self.node1)\
                 +" <--"+str(self.age)+"--> "\
                 +"Node "+str(self.node2)
        return result

class GNG:

    INFTY = 1.0E16

    """
    vectorSize: size of the model vectors
    epb: learning parameter for node
    epn: learning parameter for neighborhood
    alpha: decrease in error of new node when it is inserted
    max_age: maximum age of an edge before deletion
    d: error decay rate
    """

    def __init__(self, vectorSize, maxError, epb=0.2, epn=0.006, alpha=0.6, \
                 max_age=30, d=0.995, rVector0 = [], rVector1 = []):
        self.vectorSize = vectorSize
        self.maxError = maxError
        self.epb = epb
        self.epn = epn
        self.alpha = alpha
        self.max_age = max_age
        self.d = d
        self.nodes = []
        self.error = 0
        if (len(rVector1)!=vectorSize or len(rVector2)!=vectorSize):
            for i in range(2):
                self.nodes.append(self.createRandomNode(i))
        else:
            self.nodes.append(Node(0,rVector0))
            self.nodes.append(Node(1,rVector1))

    """
    All entries to this vector between 0 and 1
    """
    def createRandomNode(self, index):
        vector = []
        for i in range(self.vectorSize):
            vector.append(random())
            
        return Node(index, vector)

    def newInput(self,vector):
        [s1, s2] = self.findNearNodes(vector)
        n1 = self.nodes[s1]
        n2 = self.nodes[s2]
        for i in range(len(n1.edges)):
            n1.edges[i].age += 1
        dist = self.dist(n1.modelVector, vector)
        n1.error+=dist*dist
        #update winner
        self.updateModelVector(n1, vector, self.epb)
        #update neighborhood of winner
        edgeExists = 0
        i = 0
        #this has to be a while statement and not a for loop because
        #len(n1.edges) might change
        while i < (len(n1.edges)):
            #find which end of the edge is NOT n1
            if (n1.edges[i].node1 != n1.index):
                node = self.nodes[n1.edges[i].node1]
            else:
                node = self.nodes[n1.edges[i].node2]
                
            self.updateModelVector(node,vector, self.epn)
            if (node.index == s2):
                edgeExists = 1
                n1.edges[i].age = 0

            else:
                n1.edges[i].age += 1
                if (n1.edges[i].age > self.max_age):
                    print "deleting edge for age, i=",i,"len(edges)=",\
                          len(n1.edges)
                    self.deleteEdge(node, n1)
                    if (len(node.edges)==0):
                        self.deleteNode(node)
            i+=1
            
        if (edgeExists == 0):
            edge = Edge(s1,s2)
            n1.edges.append(edge)
            n2.edges.append(edge)
        news = []
        if (self.error > self.maxError):
            maxNode = self.findMaxErrorNode()
            maxNeighbor = self.findMaxErrorNeighbor(maxNode)
            newVector = []
            for i in range(self.vectorSize):
                newVector.append(0.5*(maxNode.modelVector[i]\
                                 +maxNeighbor.modelVector[i]))
            for i in range(len(self.nodes)):
                if (self.nodes[i].modelVector == None):
                    break
            if (i == len(self.nodes)-1 and self.nodes[i].modelVector != None):
                i = i+1
            newNode = Node(i,newVector)
            news.append(i)
            news.append(maxNode.index)
            news.append(maxNeighbor.index)
            if i == len(self.nodes):
                self.nodes.append(newNode)
            else:
                self.nodes[i] = newNode
            self.deleteEdge(maxNode, maxNeighbor)
            edge = Edge(i, maxNode.index)
            newNode.edges.append(edge)
             wNode.edge.findNx     uA      ne   self.deleteEdge(maxNode, maxNeighbor)eportStae = vecto*Neighbor)epordge.findNx     uA      ne eportStae = vecto*Neig      ne eporedges.append(edge)
   _age=30, dghbor)epordge.findNx   pn
        self.alpha = alpha
  name, correlation(s)maxNode.modelVector[i]\
                             +maxNeighbor.model None):
                          +maxNe eportStae = d*        +maxNe epor                       eport+=         +maxNe eporf.findMaxErrorNeigum                x   pn
        self.alpha   self.alp/gum      edge     ations = neimptan's '    #earning par, s()
  odes.d what tions       edge[7.4f" % (self.totarning p,%7.4f" % (self.totalosest ng p,%7.4f" % (      edgeelf.totar       ng pi] = self["candidpend(    i] = self[(self.vecges.append(edge)
1, node2):
    f.alpha -          1 != n1.index):
  0):
        [s1, s2] = se delVector[i]\
                             +maxNe                        for i in (self.nodes[i].modelVector == None):
                  f.alpha   sel   +maxNe eporf.findMaxErrorNeig != n1.index):
  ii] = self["candid
    (self.vecges.append(edf.maxErr])+"\n"
  ode2):
    f.alpha -          , d1 != n1.index):
  0):
        [s1, s2] = se                                                                n(node.e+str(sel       (n1.edges)):
           idon'tde.e+str(2              or.index)
           idon'tde.e+str(              erpha   sel   +maxndNe eporf.findMaxErron(nodr         
                  f.alpha ele != None and tssC, d1 != n1.index):
  xndN] = self["candid, d1 !=             x   pn
         self.del])+"\n"
  ode2):
           ***D n1.edgef.de***",     (n1.e         1 !=__version__ = "ne):

pn
         sel  self)+"\ntopend(nN
  ode2):
          self.Half  seltopend(nN
  oe2):
          self.Half  selN
  \ntopend)
pn
         selHalf  self)+"\ntopend(nN
  ode2):
     [s1, s2] = se     topend                      n(notopend        while i l  N
  .node2]          for i inyer(opend        while 2 l  N
  .node2
                     otopend        w,i,"len(edges)=",\in range(len(self.x   pn
  pn
                else:
  f)+"\ng p,%        epode2):
     [s1, s2] = se     r i in es(vector)
      newVector = []
  andida* r i in
  -  newVector = []
  )
 (self.vecges.       
  
            vector.ap    (index, v.node.index):
  0)s2]
        for i in range(len.nod2index, v.node.index):
  1)s2]
        for i in range(lenn(no    (i>n.nod2es(vector)
    tmlf.c    ((vector)
        (ind.nod2(vector)
        2indtml):
           1   self.epoch = 0
2e, correlatioe):
            for1orrect = {}
      2   self.epoche2):
     [s1, s2] = se 2,elVector[i]\
                    n2 = self.nodelf.nodes[i].modelVector =for i in range(len(lenn(no     <     (
                      2ind    ((vector)
            (ind.nod                  2indehed; ending without(indi              on(no     <                  
          2ind                      2indi         "candidpend(or):pn
       nodelf.nforodel            and all incoRcandin(selfeuclidll b nod))
  V_avg, E_wo  whif.vectorSiode2)
 date node and all incodha = alpha
      v1lVector[nyerv2lVector[i]))
          "candidlf.nostr(s
e2):
     [s1, s2] = se maxNeighbor = self.findMaxErrodandi v1      v2Numer v1      v2Nume         "candidVCorrd)_init__(self, node1, node2):
        self.nlt = "Node # "+str(self.index)+ \
i]\
                     sel+=  t = "Node "+elVector)+"\nEdges:\n"
  l+= "NettssCVErri in range(len(self.edges)):
           f.edges)
iselfonne= '__main__'      n = -1).gui.pl1). fix    Sfix        slf.cSfix   nection.Poin   sel,n'sionlf:
= range(ndegtusEr2(vectgnd laGNG(ndegtu, .05) #
    dsonlneigr selfsm incs:", setch V_a              gcould t       \n % self.autoSaveWeightsFile)
        else:
     r)+"\nEd # "+str(self.i10
           #
    All e(1hangin((i+n) * 2 * pi * 3.0/70.0))/2               s2)].vectorSiode2)
ll ee(self,      xstr(self.indegtu)].vectorSisp "hiPoin  r i in
0]for i in[    'sioand layer.name  setorSize):r i in range(lenn(noi%10=0):
                     gcould t               \n % self.autoSaveWeightsFile)
        else:
     r)+"\nEdvectorSisp c.0E1(2ector.append(0.5*(1 != tr(  set "+e                   p "hiPoin    newVector = []
0]fo  newVector = []
                                col)
ll "blue
      =3  'sio=2,i,"len(edges)=",\     d                ]))
            for i e(ind  set "+e[de.e+str( modelVector =))
            for i e2ind  set "+e[de.e+str(2modelVector =))
            for i  p "hiLsio(n1
0]fo 1[    n2
0]fo 2[                                    col)
ll "black"  'sio=2,i,"len(edges)raw_nActi("")"candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo0040755bot/brain/gng.py1074544t/br013337 5oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo 0ustar  dblankfacultyn = -1)
 uild/igmafiles/oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo0040755bot/brain/gng.py1074544t/br015314 5oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo 0ustar  dblankfacultyn = -1)
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%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.4)
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Relctor: fc5
Group: Developpdat/Libraelf.
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Requirdsnn != gsl eeglut-devel wxP     GTK2
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%_(scripe(1)

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%s:
 p -q  
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%    use  in

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%{_bwe ar}/gazebo
%{_bwe ar}/wxgazebo
%{_lib ar}/libgazebo.a
%{_lib ar}/libgazeboserv lay
%{_lib ar}/pkgnlnfig/gazebo.pc
%{      dim}/_gazebo.so
%{      dim}/gazebo.py
%{      dim}/gazebo.pyc
%{      dim}/wxgazebo
%dimp%{_ded  ar}/gazebo
%{_ded  ar}/gazebo/*
%dimp%{_t up in ar}/gazebo
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%dimp%{_pr(ssx}/src/gazebo
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 uild/igmafiles/gazebo-0.7.igmapyrobot/brain/gng.py0207410564511443/177430100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# Gazebo
%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.4)
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N conngazebo
V: 0.7.0
Relctor: fc6
Group: Developpdat/Libraelf.
Licenor: GPL
URL: http://p Adds  can.sourchood.e+set
Sourch: %{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnngazebo < %{}
Pro_dSdsnngazebo = %{}-%{relctor}
Requirdsnn != gsl eeglut-devel wxP     GTK2
Pr(ssx: /usr

%_(scripe(1)

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% uild

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%c)
 
%s:
 p -q  
%use  in
%    use  in

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%files
%_(six r(-,root,root)
%{_bwe ar}/gazebo
%{_bwe ar}/wxgazebo
%{_lib ar}/libgazebo.a
%{_lib ar}/libgazeboserv lay
%{_lib ar}/pkgnlnfig/gazebo.pc
%{      dim}/_gazebo.so
%{      dim}/gazebo.py
%{      dim}/gazebo.pyc
%{      dim}/wxgazebo
%dimp%{_ded  ar}/gazebo
%{_ded  ar}/gazebo/*
%dimp%{_t up in ar}/gazebo
%{_t up in ar}/gazebo/*
%{_t up in ar}/gazebo.h
%dimp%{_pr(ssx}/src/gazebo
%{_pr(ssx}/src/gazebo/*
facultyn = -1)
 uild/igmafiles/gdal-1.3.2.igmapyrobot/brain/gng.py053321056434257in/175470100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# GDAL RPM SPEC file

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Libraey
N conngdal
V: 1.3.2
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Group: Developpdat/Libraelf.
Licenor: X/MIT-style
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Sourch: http://www.gdal.od./dl/%{onne}-%{}Acti.gz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnngdal <= %{}
Pro_dSdsnngdal = %{}-%{relctor}
Pr(ssx: /usr/local

%_(scripe(1)

GDAL rab t E_polbe a libraeyns we as    geoseshoal Activ     lshange
rabrelctord upe ==an X/MIT style O    Sourch licenor. Aric.arbraey,def ded   # pangingle abs   "" Activself.ng, netInpll"].wepplon thatv   
ouldsup
       ls. 
%c)
 
%s:
 p -q

% uild
%nlnfigt = 
%use  in
%{__rm} -rf %{ uildroot}
%    use  in

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-,root,root)
%{_bwe ar}/epsg_tr.py
%{_bwe ar}/gcps2vec.py
%{_bwe ar}/gcps2wld.py
%{_bwe ar}/gdal2xyz.py
%{_bwe ar}/gdaladdo
%{_bwe ar}/gdalchksum.py
%{_bwe ar}/gdal-nlnfig
%{_bwe ar}/gdal_t
  our
%{_bwe ar}/gdal.py
%{_bwe ar}/gdal    
%{_bwe ar}/gdal_med.e+py
%{_bwe ar}/gdalt(n1.e %{_bwe ar}/gdal_ E_polbee %{_bwe ar}/gdalwarp %{_bwe ar}/ogr2ogr %{_bwe ar}/ogr    
%{_bwe ar}/ogrt(n1.e %{_bwe ar}/pct2rgb+py
%{_bwe ar}/rgb2pct+py
%{_t up in ar}/cpl_t
 fig.h
%{_t up in ar}/cpl_t
 v.h
%{_t up in ar}/cpl_tsv.h
%{_t up in ar}/cpl_len(s.h
%{_t up in ar}/cpl_'s '.h
%{_t up in ar}/cpl_ate xml.h
%{_t up in ar}/cpl_aelf, roc.h
%{_t up in ar}/cpl_odbc.h
%{_t up in ar}/cpl_.h
%{_t up in ar}/cpl_s  ing.h
%{_t up in ar}/cpl_vsi.h
%{_t up in ar}/gdal_alg.h
%{_t up in ar}/gdal_frmls.h
%{_t up in ar}/gdal.h
%{_t up in ar}/gdal_   v.h
%{_t up in ar}/gdal_.h
%{_t up in ar}/gdalwarpes.h
%{_t up in ar}/gvgcpfi.h
%{_t up in ar}/memActis:
.h
%{_t up in ar}/ogr_api.h
%{_t up in ar}/ogr_d ca.h
%{_t up in ar}/ogr_fea.toL.h
%{_t up in ar}/ogr_fea.toLstyle.h
%{_t up in ar}/ogr_geometry.h
%{_t up in ar}/ogr_p.h
%{_t up in ar}/ogrsf_frmls.h
%{_t up in ar}/ogr_seshoalr(s.h
%{_t up in ar}/ogr_srs_api.h
%{_t up in ar}/rawActis:
.h
%{_t up in ar}/"autplbeesp'sio.h
%{_t up in ar}/vrtActis:
.h
%{_lib ar}/libgdal.a
%{_lib ar}/libgdal.la
%{_lib ar}/libgdal.so
%{_lib ar}/libgdal.so.1
%{_lib ar}/libgdal.so.1.10.0
%{_mae ar}/mae1/gdaladdo.1
%{_mae ar}/mae1/gdal-nlnfig.1
%{_mae ar}/mae1/gdal_t
  our.1
%{_mae ar}/mae1/gdal    .1
%{_mae ar}/mae1/gdalt(n1.e.1
%{_mae ar}/mae1/gdal_ E_polbee.1
%{_mae ar}/mae1/gdal_utilitlf..1
%{_mae ar}/mae1/gdalwarp.1
%{_mae ar}/mae1/ogr2ogr.1
%{_mae ar}/mae1/ogr    .1
%{_mae ar}/mae1/ogrt(n1.e.1
%{_mae ar}/mae1/ogr_utilitlf..1
%{_ded  ar}/gdal_dedum.tsv
%{_ded  ar}/gdalit
 .png
facultyn = -1)
 uild/igmafiles/lib3ds-1.2.0.igmapyrobot/brain/gng.py012751056434257in/20170100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt"].ab3ds_iSummary: .ab3ds_N conn.ab3ds_V: 1.2.0
Relctor: fc5
Group: Developpdat/Libraelf.
Licenor: GPL
URL: http://p Adds  can.sourchood.e+set
Sourch: %{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnn.ab3ds <= %{}
Pro_dSdsnn.ab3ds = %{}-%{relctor}
Pr(ssx: /usr

%_(scripe(1)

.ab3ds_i% uild
%nlnfigt = 
%c)
 
%s:
 p -q

%use  in
%    use  in

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-,root,root)
%{_lib ar}/lib3ds.a
%dimp%{_t up in ar}/.ab3ds_%{_t up in ar}/.ab3ds/*
%{_bwe ar}/3dsdump
%{_bwe ar}/3ds2m
%{_mae ar}/mae1//3dsdump.1
%{_mae ar}/mae1/3ds2m.1
%{_bwe ar}/lib3ds-nlnfig
%{_mae ar}/mae1/lib3ds-nlnfig.1
%{_ded  ar}/aclocal/lib3ds.m4
facultyn = -1)
 uild/igmafiles/numpy-0.9.8.igmapyrobot/brain/gng.py015301056434257in/20170100644000076400003100000002221410446405477014470 0ustar  dblank%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: idate
  libraeyns weP     _N connnumpy
V: 0.9.8
Relctor: fc5
Group: Developpdat/Libraelf.
Licenor: BSD
URL: http://numpy.od./
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnnnumpy <= %{}
Requirdsnn      ayerpackayerpack-devel, atlas, atlas-devel
Pro_dSdsnnnumpy = %{}-%{relctor}
Pr(ssx: /usr/local

%_(scripe(1)
idate
 aleP      = 1ab th Num     n't ilityng, netIP      gucan.

%use  in
0xfz ../SOURCES/%{onne}-%{}Acti.gz
cd %{onne}-%{}
       s:
 p.py use  in

%nlctn
[ "%{ uildroot}"= No'/' ] && %{__rm} -rf /usr/src/redhat/BUILD/%{onne}-%{}

%files
%_(six r(-,root,root)
%{      dim}/%{onne}
facultyn = -1)
 uild/igmafiles/ode-0.5.igmapyrobot/brain/gng.py033441056434257in/172510100644000076400003100000002221410446405477014470 0ustar  dblank# ODE RPM SPEC file

Summary: O    Dyonnics Engsio_N conn != V: 0.5
Relctor: fc3
Group: Developpdat/Libraelf.
Licenor: LGPLnyerBSD-style
URL: http://    od./
Sourch: http://   ernap.dl.sourchood.e+set/sourchood.e/odelee/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnn != <= %{}
Pro_dSdsnn != n1%{}-%{relctor}
Pr(ssx: /usr/local

%_(scripe(1)
ODE    selodel sourch, hightion if ))
  libraeyns wesimulbe"].wrigid
body dyonnics. Ir forunctiofea.toL+ sel +=     .toLn (seplbe if 
(n1.delee   
   = neiasyng, f["cC/C++ API. Ir r, sadv))
 d join  ncoms
 (se   egres.d coll deteric.ze
   =fe
 .toLa ODE    f["uncv   
simulbe"].wvehinlcs, objerior n virtualerealitynenvironm  # pand
virtuale odestoLs. Ir forcuri + tiouord iid, ny chinu    gnnes, 3D
ue
  oolting)
simulbe"on  oolt. 
%c)
 
%s:
 p -q
%{__ erl} -pi -e 's|\#OPCODE|OPCODE|' nlnfig/uorr-s:
e"].s_i% uild
    dnlnfigt =     dode-lib

%use  in
cp -rct up in/   p%{_t up in ar}
cp lib/lib    a %{_lib ar}

%nlctn
[ "%{ uildroot}"= No'/' ] && %{__rm} -rf %{ uildroot}

%files
%_(six r(-,root,root)
%{_lib ar}/lib    a
%{_t up in ar}/oin/coll.h
%{_t up in ar}/oin/coll_sesce.h
%{_t up in ar}/oin/coll_trinesh.h
%{_t up in ar}/oin/comm.h
%{_t up in ar}/oin/comeshobility.h
%{_t up in ar}/oin/co fig.h
%{_t up in ar}/oin/co tac
.h
%{_t up in ar}/oin/len(s.h
%{_t up in ar}/oin/lx-dis.h
%{_t up in ar}/oin/mass.h
%{_t up in ar}/oin/matrix.h
%{_t up in ar}/oin/memory.h
%{_t up in ar}/oin/misc.h
%{_t up in ar}/oin/objerio.h
%{_t up in ar}/oin/ode.h
%{_t up in ar}/oin/oincpp.h
%{_t up in ar}/oin/oincpp_coll.h
%{_t up in ar}/oin/oincpp_old.h
%{_t up in ar}/oin/oinotalCh
%{_t up in ar}/oin/rotbe"onCh
%{_t up in ar}/oin/tines.h
n = -1)
 uild/igmafiles/ode-0.6.igmapyrobot/brain/gng.py032271056434257in/172520100644000076400003100000002221410446405477014470 0ustar  dblank# ODE RPM SPEC file

Summary: O    Dyonnics Engsio_N conn != V: 0.6
Relctor: fc5
Group: Developpdat/Libraelf.
Licenor: LGPLnyerBSD-style
URL: http://    od./
Sourch: http://   ernap.dl.sourchood.e+set/sourchood.e/odelee/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnn != <= %{}
Pro_dSdsnn != n1%{}-%{relctor}
Pr(ssx: /usr/local

%_(scripe(1)
ODE    selodel sourch, hightion if ))
  libraeyns wesimulbe"].wrigid
body dyonnics. Ir forunctiofea.toL+ sel +=     .toLn (seplbe if 
(n1.delee   
   = neiasyng, f["cC/C++ API. Ir r, sadv))
 d join  ncoms
 (se   egres.d coll deteric.ze
   =fe
 .toLa ODE    f["uncv   
simulbe"].wvehinlcs, objerior n virtualerealitynenvironm  # pand
virtuale odestoLs. Ir forcuri + tiouord iid, ny chinu    gnnes, 3D
ue
  oolting)
simulbe"on  oolt. 
%c)
 
%s:
 p -q

% uild

%nlnfigt = 
%use  in
    dese  in

%nlctn
[ "%{ uildroot}"= No'/' ] && %{__rm} -rf %{ uildroot}

%files
%_(six r(-,root,root)
%{_lib ar}/lib    a
%{_lib ar}/lib    so
%{_t up in ar}/oin/coll.h
%{_t up in ar}/oin/coll_sesce.h
%{_t up in ar}/oin/coll_trinesh.h
%{_t up in ar}/oin/comm.h
%{_t up in ar}/oin/comeshobility.h
%{_t up in ar}/oin/co fig.h
%{_t up in ar}/oin/co tac
.h
%{_t up in ar}/oin/len(s.h
%{_t up in ar}/oin/lx-dis.h 
%{_t up in ar}/oin/mass.h
%{_t up in ar}/oin/matrix.h
%{_t up in ar}/oin/memory.h
%{_t up in ar}/oin/misc.h
%{_t up in ar}/oin/objerio.h
%{_t up in ar}/oin/ode.h
%{_t up in ar}/oin/oincpp.h
%{_t up in ar}/oin/oincpp_coll.h
%{_t up in ar}/oin/oincpp_old.h 
%{_t up in ar}/oin/oinotalCh
%{_t up in ar}/oin/rotbe"onCh
%{_t up in ar}/oin/tines.h
%{_bwe ar}/ode-nlnfig
n = -1)
 uild/igmafiles/odelcv-0.9.6.igmapyrobot/brain/gng.py017631056434257in/21470100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# O   CV

Summary: O    Chinu    V Projeri_N conn delcv
V: 0.9.6
Relctor: fc3
Group: Developpdat/Libraelf.
Licenor: GPL
URL: http://p Adds  can.sourchood.e+set
Sourch: %{onne}-%{}Acti.gz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnn delcv <= %{}
Pro_dSdsnn delcv = %{}-%{relctor}
Pr(ssx: /usr

%_(scripe(1)

O    Chinu    V Projeri_i% uild
%nlnfigt = 
%c)
 
%s:
 p -q

%use  in
%    use  in

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-,root,root)
%dimp%{_ded  ar}/ delcv/
%{_ded  ar}/ delcv/*
%{_lib ar}/pkgnlnfig/ delcv.pc
%{_lib ar}/libcxd ca.la
%{_lib ar}/libcxd ca.so
%{_lib ar}/libcxd ca.so.0
%{_lib ar}/libcxd ca.so.0.9.6
%{_lib ar}/libhighgui.la
%{_lib ar}/libhighgui.so
%{_lib ar}/libhighgui.so.0
%{_lib ar}/libhighgui.so.0.9.6
%{_lib ar}/libcvaux.la
%{_lib ar}/libcvaux.so
%{_lib ar}/libcvaux.so.0
%{_lib ar}/libcvaux.so.0.9.6
%{_lib ar}/libcvhaart    ing.a
%{_lib ar}/libcv.la
%{_lib ar}/libcv.so
%{_lib ar}/libcv.so.0
%{_lib ar}/libcv.so.0.9.6
tttttttttttttn = -1)
 uild/igmafiles/p Adds-2.igmapyrobot/brain/gng.py0553610564511443/176330100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.4)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: = -1)ics protocols_N connp Adds
V: 2.0.3
Relctor: fc6
Licenor: GPL
Group: Developpdat/Libraelf.
URL: http://p Adds  can.sf+set/
Packa  ErrD.S. B <@@cs.brynmawne  u>
Obso selsnnp Adds < %{}
Pro_dSdsnnp Adds = %{}-%{relctor}
Sourch0: %{onne}-%{}Acgz
BuildRequirdsnn != ode-devel gsl eeglut-devel wxP     GTK2 lib ool-ltdl-devel
Requirdsnn != gsl wxP     GTK2

%_(scripe(1)
P Adds = -1) protocols_
%c)
 
%s:
 p -q  
% uild
ln -b -s /usr/lib/libltdl.so.3 /usr/lib/libltdl.so
mkdimp-p /usr/X11R6/lib/X11
ln -b -s /usr/share/X11/rgb.txt /usr/X11R6/lib/X11/rgb.txt
%nlnfigt = 
%use  in
%    use  in

%nlctn

%files
%_(six r(-,root,root,-)
%{_lib ar}/      %{      }/site-packa   /p Addsc.py
%{_lib ar}/      %{      }/site-packa   /p Addsc.pyc
#%{_lib ar}/      %{      }/site-packa   /p Addsc.pyo
%{_lib ar}/      %{      }/site-packa   /_p Addsc.s 
%{_bwe ar}/p Adds
%{_bwe ar}/p Addscam
%{_bwe ar}/p Addsjoy
%{_bwe ar}/p Addsnav
%{_bwe ar}/p Adds     
%{_bwe ar}/p Addsv
%{_bwe ar}/p Addsvcs
%{_bwe ar}/p Addswritemap
%{_bwe ar}/p Addsxdd.en.py
#%{_bwe ar}/p Addsxdd.en.pyc
#%{_bwe ar}/p Addsxdd.en.pyo
%{_t up in ar}/p Adds-2.0/
%{_lib ar}/libp Addsc.a
%{_lib ar}/libp Addsc++.a
%{_lib ar}/libp Addsc.la
%{_lib ar}/libp Addsc++.la
%{_lib ar}/libp Addsc ca.a
%{_lib ar}/libp Addsc ca.la
%{_lib ar}/libp Addsc ca.so
%{_lib ar}/libp Addsc ca.so.2
%{_lib ar}/libp Addsc ca.so.2.0.3
%{_lib ar}/libp Addsc.so
%{_lib ar}/libp Addsc++.so
%{_lib ar}/libp Addsc.so.2
%{_lib ar}/libp Addsc++.so.2
%{_lib ar}/libp Addsc.so.2.0.3
%{_lib ar}/libp Addsc++.so.2.0.3
%{_lib ar}/libp Addsdri.a
%{_lib ar}/libp Addsdri.la
%{_lib ar}/libp Addsdri.so
%{_lib ar}/libp Addsdri.so.2
%{_lib ar}/libp Addsdri.so.2.0.3
%{_lib ar}/libp Addslen(s.a
%{_lib ar}/libp Addslen(s.la
%{_lib ar}/libp Addslen(s.so
%{_lib ar}/libp Addslen(s.so.2
%{_lib ar}/libp Addslen(s.so.2.0.3
%{_lib ar}/libp Addsjpeg.a
%{_lib ar}/libp Addsjpeg.la
%{_lib ar}/libp Addsjpeg.so
%{_lib ar}/libp Addsjpeg.so.2
%{_lib ar}/libp Addsjpeg.so.2.0.3
%{_lib ar}/libp Addstcp.a
%{_lib ar}/libp Addstcp.la
%{_lib ar}/libp Addstcp.so
%{_lib ar}/libp Addstcp.so.2
%{_lib ar}/libp Addstcp.so.2.0.3
%{_lib ar}/libp Addsxdd.a
%{_lib ar}/libp Addsxdd.la
%{_lib ar}/libp Addsxdd.so
%{_lib ar}/libp Addsxdd.so.2
%{_lib ar}/libp Addsxdd.so.2.0.3
%{_lib ar}/pkgnlnfig/p Addsc ca.pc
%{_lib ar}/pkgnlnfig/p Addsc.pc
%{_lib ar}/pkgnlnfig/p Addsc++.pc
%{_lib ar}/pkgnlnfig/p Addsdri.pc
%{_lib ar}/pkgnlnfig/p Addslen(s.pc
%{_lib ar}/pkgnlnfig/p Addstcp.pc
%{_lib ar}/pkgnlnfig/p Addsxdd.pc
%{_ded  ar}/p Adds/

%n= 0
 log
* M May 15 2py Douglas S. B <@brynmawne  u> - 2-1
- Inihoal  uild. "candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p Adds-NOTESoooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooopyrobot/brain/gng.py0060010564343063/174150100644000076400003100000002221410446405477014470 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttlx PKG_CONFIG_PATH=/usr/local/lib/pkgnlnfig:/usr/lib/pkgnlnfig
yumdese  inn != ode-devel gsl eeglut-devel wxP     GTK2 lib ool-ltdl-devel
ln -s /usr/lib/libltdl.so.3 /usr/lib/libltdl.so
mkdimp-p /usr/X11R6/lib/X11
ln -s /usr/share/X11/rgb.txt /usr/X11R6/lib/X11/rgb.txt 
lx PYTHONPATH=$PYTHONPATH:/usr/local/lib/p     2.4/site-packa   
lx LD_LIBRARY_PATH=/usr/local/lib"candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p Adds.igmapyrobot/brain/gng.py031231056434257in/174710100644000076400003100000002221410446405477014470 0ustar  dblank# P Adds

%_(ssioa  _ges)%(       -c 'sys;     (art([0:3])')_iSummary: P Adds = -1)    ere_N connp Adds
V: 1.6.4
Relctor: fc3
Group: Developpdat/Libraelf.
Licenor: GPL
URL: http://p Adds  can.sourchood.e+set
Sourch: %{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnnp Adds <= %{}
Pro_dSdsnnp Adds = %{}-%{relctor}
Requirdsnngsl 
Pr(ssx: /usr/local

%_(scripe(1)

P Adds = -1)    ere_
%c)
 
%s:
 p -q -nnp Adds
./boots   p

% uild
%nlnfigt = 
%use  in
%    use  in

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-,root,root)
%{_lib ar}/libp Addsqueua.a
%{_lib ar}/libp Addsc.a
%{_lib ar}/libp Addscclidat.a
%{_lib ar}/libp Addspacketay
%{_lib ar}/pkgnlnfig/p Addsclidat.pc
%{_lib ar}/pkgnlnfig/p Adds.pc
%{_lib ar}/pkgnlnfig/libp Addsc.pc
%{_lib ar}/pkgnlnfig/p Addscclidat.pc
%{_lib ar}/p     %{  _}/site-packa   /_p Addsc.s 
%{_lib ar}/p     %{  _}/site-packa   /p Addsc.py
%{_lib ar}/      %{  _}/site-packa   /p Addsc.pyc
%{_lib ar}/libp Addsclidat.a
%dimp%{_t up in ar}/p Adds
%{_t up in ar}/p Adds/*
%{_t up in ar}/p Addsclidat.h
%{_t up in ar}/p Adds.h
%{_t up in ar}/  can1p3.h
%{_t up in ar}/p Addsqueua.h
%{_t up in ar}/jpeg.h
%{_t up in ar}/p Addscclidat.h
%{_t up in ar}/p Addspacketah
%{_t up in ar}/p Addscah
%{_t up in ar}/p Addsco fig.h
%{_t up in ar}/p Addscomm.h
%{_t up in ar}/p Addsmcomncoms.h
%dimp%{_ded  ar}/p Adds
%{_ded  ar}/p Adds/*
%{_bwe ar}/p Addsvcs
%{_bwe ar}/p Adds
%{_bwe ar}/p Addsjoy
%{_bwe ar}/p Addsv
%{_bwe ar}/p Adds     
%{_bwe ar}/p Addsnav
%dimp%{_pr(ssx}/src/p Adds
%{_pr(ssx}/src/p Adds/*
facultyn = -1)
 uild/igmafiles/proj4.igmapyrobot/brain/gng.py020671056434257in/172410100644000076400003100000002221410446405477014470 0ustar  dblank# PROJ.4 RPM SPEC file

Summary: Cartog  phic Projeri(1)s
Libraey
N connproj
V: 4.5.0
Relctor: fc5
Group: Developpdat/Libraelf.
Licenor: MIT
URL: http://proj.map oolt.od./
Sourch: ftp://ftp.remoelsenoing.od./proj/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnnproj <= %{}
Pro_dSdsnnproj n1%{}-%{relctor}
Pr(ssx: /usr/local

%_(scripe(1)
PROJ.4 ior n  ""(ve f["cby GRASS GIS, MapServ l, PostGIS, Thuban, OGDI
 (seOGRCoordinateTE_po     l(1)
as weinnas vaelous othds projeris_
%c)
 
%s:
 p -q

% uild

%nlnfigt = 
%use  in
    dese  in

%nlctn
[ "%{ uildroot}"= No'/' ] && %{__rm} -rf %{ uildroot}

%files
%_(six r(-,root,root)
%{_bwe ar}/proj
%{_bwe ar}/nad2nad
%{_bwe ar}/nad2bwe
%{_bwe ar}/geod
%{_bwe ar}/invgeod
%{_bwe ar}/cs2cs
%{_bwe ar}/invproj
%{_t up in ar}/projeris.h
%{_t up in ar}/nad_'s '.h
%{_t up in ar}/proj_api.h
%{_t up in ar}/org_proj4_Projeri(1)s.h
/usr/share/man/mae1/geod.1
/usr/share/man/mae1/nad2nad.1
/usr/share/man/mae1/proj.1
/usr/share/man/mae1/cs2cs.1
/usr/share/man/mae3/pj_t it.3
/usr/share/proj
n = -1)
 uild/igmafiles/p = -1)-4.0.igmapyrobot/brain/gng.py026241056434257in/21770100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# P = -1) RPM SPEC File

%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: P      R -1)ics,  oolkit\     xplue
 AIing)
= -1)ics
N connp = -1)
V: 4.0.3
Relctor: fc3
Group: Applon that
Licenor: GPL
URL: http://P = R -1)ics od./
Sourch: http://P = R -1)ics od./download/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Requirdsnn       >n1%{      },n      -imague
,  k   er,n      -ndate
 
BuildRequirdsnn      ay      -devel, swig
Obso selsnnp = -1) <= %{}
Pro_dSdsnnp = -1) n1%{}-%{relctor}

%_(scripe(1)
P      R -1)ics ior_(signedng,  xple = -1)ics tr(  un that
ng)
=lsearch. Ir r, saneiasyng, f["c   ere\    ection.ue


  oerealing)
simulbee)
= -1)s, t up iue
 AIBO, R -1c p Soccds
serv l, P Adds/S can/Gazebo,ing)
othdst. 
%c)
 
%s:
 p -q -nnp = -1)

% uild
./nlnfigt =.py --_(sis --pr(ssx=%{_pr(ssx}
     
%use  in
%{__rm} -rf %{ uildroot}
ese  inn-d %{      dim}/n = -1)

cp -rc* %{      dim}/n = -1)

ese  innbwe/n = -1) %{_bwe ar}
ese  innbwe/in = -1) %{_bwe ar}

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-, root, root, 0755)
%{_lib ar}/      %{      }/site-packa   /p = -1)

%{_bwe ar}/p = -1)
%{_bwe ar}/ip = -1)

%n= 0
 log
* Su May 22 2p5 Douglas B <@brynmawne  u> - 
- Inihoal  uild. "candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p = -1)-4.2.igmapyrobot/brain/gng.py026241056434257in/2210100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# P = -1) RPM SPEC File

%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: P      R -1)ics,  oolkit\     xplue
 AIing)
= -1)ics
N connp = -1)
V: 4.2.3
Relctor: fc4
Group: Applon that
Licenor: GPL
URL: http://P = R -1)ics od./
Sourch: http://P = R -1)ics od./download/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Requirdsnn       >n1%{      },n      -imague
,  k   er,n      -ndate
 
BuildRequirdsnn      ay      -devel, swig
Obso selsnnp = -1) <= %{}
Pro_dSdsnnp = -1) n1%{}-%{relctor}

%_(scripe(1)
P      R -1)ics ior_(signedng,  xple = -1)ics tr(  un that
ng)
=lsearch. Ir r, saneiasyng, f["c   ere\    ection.ue


  oerealing)
simulbee)
= -1)s, t up iue
 AIBO, R -1c p Soccds
serv l, P Adds/S can/Gazebo,ing)
othdst. 
%c)
 
%s:
 p -q -nnp = -1)

% uild
./nlnfigt =.py --_(sis --pr(ssx=%{_pr(ssx}
     
%use  in
%{__rm} -rf %{ uildroot}
ese  inn-d %{      dim}/n = -1)

cp -rc* %{      dim}/n = -1)

ese  innbwe/n = -1) %{_bwe ar}
ese  innbwe/in = -1) %{_bwe ar}

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-, root, root, 0755)
%{_lib ar}/      %{      }/site-packa   /p = -1)

%{_bwe ar}/p = -1)
%{_bwe ar}/ip = -1)

%n= 0
 log
* Su May 22 2p5 Douglas B <@brynmawne  u> - 
- Inihoal  uild. "candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p = -1)-4.6.igmapyrobot/brain/gng.py025501056434257in/22030100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# P = -1) RPM SPEC File

%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: P      R -1)ics,  oolkit\     xplue
 AIing)
= -1)ics
N connp = -1)
V: 4.6.0
Relctor: fc4
Group: Applon that
Licenor: GPL
URL: http://P = R -1)ics od./
Sourch: http://P = R -1)ics od./download/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Requirdsnn       >n1%{      },n      -imague
,  k   er,n      -ndate
 
BuildRequirdsnn      ay      -devel, swig,np Adds
Obso selsnnp = -1) <= %{}
Pro_dSdsnnp = -1) n1%{}-%{relctor}

%_(scripe(1)
P      R -1)ics ior_(signedng,  xple = -1)ics tr(  un that
ng)
=lsearch. Ir r, saneiasyng, f["c   ere\    ection.ue


  oerealing)
simulbee)
= -1)s, t up iue
 AIBO, R -1c p Soccds
serv l, P Adds/S can/Gazebo,ing)
othdst. 
%c)
 
%s:
 p -q -nnp = -1)

% uild
./nlnfigt =.py --_(sis --pr(ssx=%{_pr(ssx}
     
%use  in
%{__rm} -rf %{ uildroot}
ese  inn-d %{      dim}/n = -1)

cp -rc* %{      dim}/n = -1)

ese  innbwe/n = -1) %{_bwe ar}

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-, root, root, 0755)
%{_lib ar}/      %{      }/site-packa   /p = -1)

%{_bwe ar}/p = -1)

%n= 0
 log
* Su May 22 2p5 Douglas B <@brynmawne  u> - 
- Inihoal  uild. "candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p = -1)-4.8.2.igmapyrobot/brain/gng.py025501056434257in/23450100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# P = -1) RPM SPEC File

%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: P      R -1)ics,  oolkit\     xplue
 AIing)
= -1)ics
N connp = -1)
V: 4.8.2
Relctor: fc4
Group: Applon that
Licenor: GPL
URL: http://P = R -1)ics od./
Sourch: http://P = R -1)ics od./download/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Requirdsnn       >n1%{      },n      -imague
,  k   er,n      -ndate
 
BuildRequirdsnn      ay      -devel, swig,np Adds
Obso selsnnp = -1) <= %{}
Pro_dSdsnnp = -1) n1%{}-%{relctor}

%_(scripe(1)
P      R -1)ics ior_(signedng,  xple = -1)ics tr(  un that
ng)
=lsearch. Ir r, saneiasyng, f["c   ere\    ection.ue


  oerealing)
simulbee)
= -1)s, t up iue
 AIBO, R -1c p Soccds
serv l, P Adds/S can/Gazebo,ing)
othdst. 
%c)
 
%s:
 p -q -nnp = -1)

% uild
./nlnfigt =.py --_(sis --pr(ssx=%{_pr(ssx}
     
%use  in
%{__rm} -rf %{ uildroot}
ese  inn-d %{      dim}/n = -1)

cp -rc* %{      dim}/n = -1)

ese  innbwe/n = -1) %{_bwe ar}

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-, root, root, 0755)
%{_lib ar}/      %{      }/site-packa   /p = -1)

%{_bwe ar}/p = -1)

%n= 0
 log
* Su May 22 2p5 Douglas B <@brynmawne  u> - 
- Inihoal  uild. "candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p = -1)-4.8.igmapyrobot/brain/gng.py025501056434257in/22050100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# P = -1) RPM SPEC File

%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: P      R -1)ics,  oolkit\     xplue
 AIing)
= -1)ics
N connp = -1)
V: 4.8.5
Relctor: fc5
Group: Applon that
Licenor: GPL
URL: http://P = R -1)ics od./
Sourch: http://P = R -1)ics od./download/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Requirdsnn       >n1%{      },n      -imague
,  k   er,n      -ndate
 
BuildRequirdsnn      ay      -devel, swig,np Adds
Obso selsnnp = -1) <= %{}
Pro_dSdsnnp = -1) n1%{}-%{relctor}

%_(scripe(1)
P      R -1)ics ior_(signedng,  xple = -1)ics tr(  un that
ng)
=lsearch. Ir r, saneiasyng, f["c   ere\    ection.ue


  oerealing)
simulbee)
= -1)s, t up iue
 AIBO, R -1c p Soccds
serv l, P Adds/S can/Gazebo,ing)
othdst. 
%c)
 
%s:
 p -q -nnp = -1)

% uild
./nlnfigt =.py --_(sis --pr(ssx=%{_pr(ssx}
     
%use  in
%{__rm} -rf %{ uildroot}
ese  inn-d %{      dim}/n = -1)

cp -rc* %{      dim}/n = -1)

ese  innbwe/n = -1) %{_bwe ar}

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-, root, root, 0755)
%{_lib ar}/      %{      }/site-packa   /p = -1)

%{_bwe ar}/p = -1)

%n= 0
 log
* Su May 22 2p5 Douglas B <@brynmawne  u> - 
- Inihoal  uild. "candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p     -mdp-1.igmapyrobot/brain/gng.py020451056434257in/24340100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: Modulbr  oolkit\    DctivProcesoing
N connp     -mdp
V: 1.1.0
Relctor: fc5
Group: Developpdat/Libraelf.
Licenor: LGPL
URL: http://mdp- oolkit.sourchood.e+set/
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnnp     -mdp <= %{}
Requirdsnn      -scipy
Pro_dSdsnnp     -mdp n1%{}-%{relctor}
Pr(ssx: /usr/local

%_(scripe(1)
Modulbr  oolkit\    DctivProcesoing (MDP)    sIP      ibraeynto
ion if  ded  procesoing. Already lepdate)
alguthmsct up in:
Prt uipal Chinone   Analys   (PCA), In1.delee   Chinone   Analys  
(ICA), Slow FdestoL Analys   (SFA), ng)
Growing Neural Gas (GNG).

%use  in
0xfz ../SOURCES/MDP-%{}Acti.gz
cd MDP-%{}
       s:
 p.py use  in

%nlctn
[ "%{ uildroot}"= No'/' ] && %{__rm} -rf /usr/src/redhat/BUILD/MDP-%{}

%files
%_(six r(-,root,root)
%{      dim}/mdp
%{      dim}/g  ph"candidate", positiooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p     -mdp-2.igmapyrobot/brain/gng.py020201056434257in/24260100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: Modulbr  oolkit\    DctivProcesoing
N connp     -mdp
V: 2.0.0
Relctor: fc5
Group: Developpdat/Libraelf.
Licenor: LGPL
URL: http://mdp- oolkit.sourchood.e+set/
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnnp     -mdp <= %{}
Requirdsnn      
Pro_dSdsnnp     -mdp n1%{}-%{relctor}
Pr(ssx: /usr/local

%_(scripe(1)
Modulbr  oolkit\    DctivProcesoing (MDP)    sIP      ibraeynto
ion if  ded  procesoing. Already lepdate)
alguthmsct up in:
Prt uipal Chinone   Analys   (PCA), In1.delee   Chinone   Analys  
(ICA), Slow FdestoL Analys   (SFA), ng)
Growing Neural Gas (GNG).

%use  in
0xfz ../SOURCES/MDP-2.0RCActi.gz
cd MDP-2.0RC
       s:
 p.py use  in

%nlctn
[ "%{ uildroot}"= No'/' ] && %{__rm} -rf /usr/src/redhat/BUILD/MDP-2.0RC

%files
%_(six r(-,root,root)
%{      dim}/mdp
%{      dim}/g  ph"candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/p     -scipy.igmapyrobot/brain/gng.py031401056434257in/26420100644000076400003100000002221410446405477014470 0ustar  dblank%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: Scidatific Tooltis weP     _N conn      -scipy
V: 0.4.9
Relctor: fc5
Group: Developpdat/Libraelf.
Licenor: BSD
URL: http://www.scipy.od./
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnn      -scipy <= %{}
Requirdsnn      aynumpyayerpackayerpack-devel, atlas, atlas-devel
Pro_dSdsnn      -scipy n1%{}-%{relctor}
Pr(ssx: /usr/local

%_(scripe(1)
SciPy     del-sourch software\    otalnotaics, scidach, and
engsioering. Ir forals, netIonne of sIy populbr nlnferdach 1)
scidatific prog  mming 
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%use  in
0xfz ../SOURCES/scipy-%{}Acti.gz
cd scipy-%{}/Lib
       s:
 p.py use  in

%nlctn
[ "%{ uildroot}"= No'/' ] && %{__rm} -rf /usr/src/redhat/BUILD/scipy-%{}

%files
%_(six r(-,root,root)
%{      dim}/scipy
%{      dim}/IP     /UorrClnfig/i      rc-scipy
n = -1)
 uild/igmafiles/  can-2.igmapyrobot/brain/gng.py0414710564511443/174370100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.4)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: 2)
= -1)ics
simulbe  
N conn  can
V: 2.0.3
Relctor: fc6
Licenor: GPL
Group: Developpdat/Libraelf.
URL: http://p Adds  can.sf+set/
Packa  ErrD.S. B <@@cs.brynmawne  u>
Obso selsnn  can < %{}
Pro_dSdsnn  can n1%{}-%{relctor}
BuildRequirdsnn  Adds
Requirdsnn  Adds
Sourch0: %{onne}-%{}Acgz

%_(scripe(1)
S can = -1) simulbe  

%c)
 
%s:
 p -q  #./boots   p

% uild
%nlnfigt = 
%use  in
%    use  in

%nlctn

%files
%_(six r(-,root,root,-)
%{_bwe ar}/ttest
%{_t up in ar}/  can.h
%{_lib ar}/lib  can.a
%{_lib ar}/lib  can.la
%{_lib ar}/lib  can.so
%{_lib ar}/lib  can.so.2
%{_lib ar}/lib  can.so.2.0.0
%{_lib ar}/lib  canplugsi.a
%{_lib ar}/lib  canplugsi.la
%{_lib ar}/lib  canplugsi.so
%{_lib ar}/lib  canplugsi.so.1
%{_lib ar}/lib  canplugsi.so.1.0.0
%{_lib ar}/pkgnlnfig/  can.pc
%{_ded  ar}/  can/worlds/autolab.cfg
%{_ded  ar}/  can/worlds/autolab.world
%{_ded  ar}/  can/worlds/beac1)s.t u
%{_ded  ar}/  can/worlds/bitmaps/autolab.png
%{_ded  ar}/  can/worlds/bitmaps/cave.png
%{_ded  ar}/  can/worlds/bitmaps/ghost.png
%{_ded  ar}/  can/worlds/bitmaps/hospi  i.png
%{_ded  ar}/  can/worlds/bitmaps/hospi  i_seri(1).png
%{_ded  ar}/  can/worlds/bitmaps/   k.png
%{_ded  ar}/  can/worlds/bitmaps/sal2.png
%{_ded  ar}/  can/worlds/bitmaps/sle_rooms.png
%{_ded  ar}/  can/worlds/bitmaps/sesce_t vadds.png
%{_ded  ar}/  can/worlds/bitmaps/submarsio.png
%{_ded  ar}/  can/worlds/bitmaps/l += .png
%{_ded  ar}/  can/worlds/chat   box.t u
%{_ded  ar}/  can/worlds/eything.cfg
%{_ded  ar}/  can/worlds/eything.world
%{_ded  ar}/  can/worlds/map.t u
%{_ded  ar}/  can/worlds/p(1)oer.t u
%{_ded  ar}/  can/worlds/pucktad.et.t u
%{_ded  ar}/  can/worlds/sick.t u
%{_ded  ar}/  can/worlds/sile.cfg
%{_ded  ar}/  can/worlds/sile.world
%{_ded  ar}/  can/worlds/vfh.cfg
%{_ded  ar}/  can/worlds/wavefront.cfg

%n= 0
 log
* M May 15 2py Douglas S. B <@brynmawne  u> - 2-1
- Inihoal  uild. "candidate", positiooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/igmafiles/  can.igmapyrobot/brain/gng.py021551056434257in/173040100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# S can

%_(ssioa  _ges)%(       -c 'sys;     (art([0:3])')_iSummary: S can, a 2D
simulbe  
N conn  can
V: 1.6.4
Relctor: fc3
Group: Developpdat/Libraelf.
Licenor: GPL
URL: http://p Adds  can.sourchood.e+set
Sourch: %{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Obso selsnn  can <= %{}
Pro_dSdsnn  can n1%{}-%{relctor}
Requirdsnn  Adds
Pr(ssx: /usr/local

%_(scripe(1)

S can, a 2D
simulbe  

%c)
 
%s:
 p -q -nn  can
./boots   p

% uild
%nlnfigt = 
%use  in
cd ./docsrc
     cd ..
%    use  in

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-,root,root)
%{_lib ar}/lib  canplugsi.a
%{_lib ar}/lib  can.so.1
%{_lib ar}/lib  can.so.1.0.0
%{_lib ar}/lib  can.a
%{_lib ar}/lib  canplugsi.so
%{_lib ar}/lib  canplugsi.ly
%{_lib ar}/pkgnlnfig/  can.pc
%{_lib ar}/lib  can.so
%{_lib ar}/lib  canplugsi.so.1
%{_lib ar}/lib  canplugsi.so.1.0.0
%{_lib ar}/lib  can.la
%{_t up in ar}/  can.h
%dimp%{_ded  ar}/  can
%{_ded  ar}/  can/*
%{_bwe ar}/ttest
%dimp%{_pr(ssx}/doc/  can_uorr
%{_pr(ssx}/doc/  can_uorr/*
%dimp%{_pr(ssx}/doc/  can_r(serdach
%{_pr(ssx}/doc/  can_r(serdach/*
facultyn = -1)
 uild/b    Telat=.pyp755ot/brain/gng.py007551042637277265200100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# A P =  bare\b     telat=

fromnp = -1).b     B    

class MyB    (B    ):
es)_(s s:
 p(self):
es))))# C ined duue
 c1)struri(1)
es))))# inihoalize your vaes herd
es))))pass
es))))
)))# Only me   d you haveng, _(ssioais netIttep me   d:

es)_(s step(self):
es))))# C ined , ny time  sIserond
es))))# [t(alue\    s tr(self.= -1).r 0
 [" in"]]
es))))tE_polat=, rotbee = 0.5, 0.0
es))))self.= -1).move(tE_polat=, rotbee)_i_(s INIT(engsio):
es)r:
 rn MyB    ('MyB    ', engsio)
es))))
tttttttttttttttttttn = -1)
 uild/p = -1).igmapyrobot/brain/gng.py02550103624657i757250100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt# P = -1) RPM SPEC File

%_(ssioa      comp%(%{__      } -c 'sys;       art([:3]' || echo 2.3)
%_(ssioa      dimp%(%{__      } -c 'sys;       [x     xstr(art(pf x[-13:]
    site-packa   "]
0]')_iSummary: P      R -1)ics,  oolkit\     xplue
 AIing)
= -1)ics
N connp = -1)
V: 4.6.0
Relctor: fc4
Group: Applon that
Licenor: GPL
URL: http://P = R -1)ics od./
Sourch: http://P = R -1)ics od./download/%{onne}-%{}Acgz
Packa  ErrD.S. B <@cs.brynmawne  u>
Requirdsnn       >n1%{      },n      -imague
,  k   er,n      -ndate
 
BuildRequirdsnn      ay      -devel, swig,np Adds
Obso selsnnp = -1) <= %{}
Pro_dSdsnnp = -1) n1%{}-%{relctor}

%_(scripe(1)
P      R -1)ics ior_(signedng,  xple = -1)ics tr(  un that
ng)
=lsearch. Ir r, saneiasyng, f["c   ere\    ection.ue


  oerealing)
simulbee)
= -1)s, t up iue
 AIBO, R -1c p Soccds
serv l, P Adds/S can/Gazebo,ing)
othdst. 
%c)
 
%s:
 p -q -nnp = -1)

% uild
./nlnfigt =.py --_(sis --pr(ssx=%{_pr(ssx}
     
%use  in
%{__rm} -rf %{ uildroot}
ese  inn-d %{      dim}/n = -1)

cp -rc* %{      dim}/n = -1)

ese  innbwe/n = -1) %{_bwe ar}

%nlctn
%{__rm} -rf %{ uildroot}

%files
%_(six r(-, root, root, 0755)
%{_lib ar}/      %{      }/site-packa   /p = -1)

%{_bwe ar}/p = -1)

%n= 0
 log
* Su May 22 2p5 Douglas B <@brynmawne  u> - 
- Inihoal  uild. "candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
 uild/p = -1)ooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooopyrobot/brain/gng.py216001074544t/bro47540100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt
"""
P = -1) - P      R -1)ics
(c) 2p5, P = R -1)ics od.. Licenord undompnetIGNU GPL. "THIS FILE IS AUTOMATICALLY GENERATED
"""
os, s s, posixp

__au   r__ n1"Douglas B <@brynmawne  u>"
____ n1"$Revi: 1.5 $"

# Wherd are\we? Chinuee cwd 
# ----------------------------------------------------
f os.onne tr(['nt', 'dos', 'os2']:
es))f art(argv
0][1]
   ':'ing)
srt(argv
0][2]
   '\\':
es))))  cwd =
srt(argv
0]
es))elor:
es))))  cwd =
os.getcwd() + '\\' + srt(argv
0]
elf os.onne tr(['posix']:
es))f art(argv
0][0]
   '/':
es))))  cwd =
srt(argv
0]
es))elor:
es))))  cwd =
os.getcwd() + '/' + srt(argv
0]
elor:
es))   ["cAx ribueeEen(s, "your OS (%s)    n1) suped" % os.onne
# ----------------------------------------------------
# Add cwd  oeour PYTHON search p
# ----------------------------------------------------
(bwep,spare) =
os.p.iglit(cwd))# peel offnp = -1) fileonne
(p = p,spare) =
os.p.iglit(bwep))# peel offnbwe  ar
(p,spare) =
os.p.iglit(p = p))# peel offnp =   ar
art(p.eseert(0, p))# put PARENT a) front of 's ' PARENT/p = /bwe/n = 
# ----------------------------------------------------
# M   dstoL environpdat    s:
 p:
# ----------------------------------------------------
f os.onne tr(['nt', 'dos', 'os2']:
es))os.environ['EDITOR']
  'n1)epad'
es))os.nueenv('EDITOR', 'n1)epad')
es))os.environ['HOME']
  p = p
es))os.nueenv('HOME', p = p)
es))os.environ['HOSTNAME']
  os.getenv('COMPUTERNAME')
es))os.nueenv('HOSTNAME', os.getenv('COMPUTERNAME'))
f os.environ.r, _key('PYROBOT')ing)
os.environ["PYROBOT"]= No'':
es))pass
elor:
es))f posixp.exis# (p = p + "/plugsis"):
es))))  os.environ['PYROBOT']
  p = p
es))es))os.nueenv('PYROBOT', p = p )
es))elor:
es))))  p = pguess n1"/usr/lib/p     %s/site-packa   /p = -1)" % art([0:3]
es))))  f posixp.exis# (p = pguess):
es))))  ))  os.environ['PYROBOT']
  p = pguess
es))))  ))  os.nueenv('PYROBOT', p = pguess )
es))))  elor:
es))))  ))  p = pguess n1"/usr/local/lib/p     %s/site-packa   /p = -1)" % art([0:3]
es))))  ))  f posixp.exis# (p = pguess):
es))))  ))  ))  os.environ['PYROBOT']
  p = pguess
es))))  ))  ))  os.nueenv('PYROBOT', p = pguess )
es))))  ))  elor:
es))))  ))         ["c"Can') fig)
p = -1)  aron.ory! Pu)    p     %s/site-packa   / OR run p = -1)  aron.ly fromnnetIese  ines(1)
 aron.ory" % art([0:3]
f n1) os.environ.r, _key('HOSTNAME'):
es))os.environ['HOSTNAME']
  'chinu   '
es))os.nueenv('HOSTNAME', 'chinu   ' )
# add PYROBOT  oePYTHONPATH first
spare
  ''
p =
os.environ["PYROBOT"]=
while spare
 No'':
es)(p,spare) =
os.p.iglit(p))# peel offnp = -1)  ar
art(p.eseert(0, p))# add PYROBOT  oePYTHONing)
OS search p
f "PYTHONPATH"    os.environ:
es))f os.onne tr(['nt', 'dos', 'os2']:
es))es))os.environ["PYTHONPATH"]
  p + ";" + os.environ["PYTHONPATH"]
es))elor:
es))))  os.environ["PYTHONPATH"]
  p + ":" + os.environ["PYTHONPATH"]
elor:
es))os.environ["PYTHONPATH"]
  p
# at end of p, tr(case you havenothdst:
f os.onne tr(['nt', 'dos', 'os2']:
es))os.environ["PATH"]
+n1";%s/plugsis/simulbe  s" % os.environ["PYROBOT"]
elor:
es))os.environ["PATH"]
+n1":%s/plugsis/simulbe  s" % os.environ["PYROBOT"]
# ------------------------------ All done 
   =environpdat bussioss!
try:
es))fromnp = -1).arttem share
es))fromnp = -1).engsio *
except IEen(s:
es))   ["c"You ioedng, run '    ' tr(%s" % (os.environ["PYROBOT"],)
# ------------------------------ Let'sn  crt
= -1)file = 0
devices = 0
vaes = []
b    file = 0
wig)ow
  'TK'
p = args = []
simulbe   = 0
nlnfigfile = 0
worldfile = 0
evalcommng)
n1""_i_(s basichelp():
es))      "You may ioedng, _(ssioanetIPYROBOT environpdat vael += . Try:"
es))      ")))  ))  exPYROBOT=/usr/lib/p     2.3/site-packa   /p = -1)"
es))      "   otybe exPYROBOT=~/p = -1)"
es))      ""
es))      "Also, m   dstoL PYROBOT ior n PYTHONPATH. Try:"
es))      ")))  ))  exPYTHONPATH=$PYTHONPATH:$PYROBOT"
es))      "(f it   n') already n P     'snp)"
try:
es))p = -1)
except:
es))art
es))basichelp()
es))art(exit(1)
_i_(s proceso_ope(1)s():
es))getope, s s, stue

es))globalero-1)file, b    file, wig)ow,
simulbe  , \
es))))  )) p = args, nlnfigfile, evalcommng), worldfile, devices
es))try:
es))es))opts, nrgs = getope.getope(srt(argv
1:], 
es))))  ))                         "r:b:hg:s:a:i:e:w:d:c:v:p:", 
es))))  ))                         ["ro-1)=", "b    =", "help", 
es))))  ))                          "gui=", "sim=", "nrgs=",
es))))  ))                          "inih=", "eval=", "world=",
es))))  ))                          "devices=", "nlnfig=", "vae=",
es))))  ))                          "proc="])
es))except getope.GetopeEen(s:
es))))))#)      help n     l(1)
ag)
exit:
es))))  p = -1).arttem.usa  ()
es))))  art(exit(1)
_))  flags = {}_))  flags.update(opts)
es))    o,in    opts:
es))))  f o    ("-h", "--help"):
es))))  ))  p = -1).arttem.usa  ()
es))))  ))  art(exit(1)
))  ))  elf o    ("-g", "--gui"):
es))))  ))  wig)ow
  stue
.upper(a)
))  ))  elf o    ("-r", "--= -1)"):
es))))  ))  = -1)file = a
))  ))  elf o    ("-s", "--sim"):
es))))  ))  simulbe   = a
))  ))  elf o    ("-b", "--b    "):
es))))  ))  b    file = a
	elf o    ("-a", "--nrgs"):
es))))  ))  p = nrgs = a
	elf o    ("-i", "--inih"):
es))))  ))  nlnfigfile = a
	elf o    ("-w", "--world", "-c", "--nlnfig"):
es))))  ))  worldfile = a
	elf o    ("-d", "--devices"):
es))))  ))  devices = a
	elf o    ("-e", "--eval"):
es))))  ))  evalcommng)
n1a
	elf o    ("-v", "--vae"):
es))))  ))  vaes.apdele(in )
))  ))  elf o    ("-p", "--proc"):
es))))  ))  flags[o]
  a)#)hng)le lbeer
es)) :
 rn flags

flags = proceso_ope(1)s()
# ------------------------------ Checkwarttem
mesocan n1" 1)
%s" % os.onne
f os.onne tr(['posix']:
es))pid =
os.getpid()
es))cpu n1"0")#)could be a 's ' "0,2,5"
es))f "-p" tr(flags:
es))))  cpu n1flags["-p"]
es))elf "--proc" tr(flags:
es))))  cpu n1flags["--proc"]
es)) :
val =
os.arttem("taskset -c -p
%s %d > /dev/null" % (cpu,)pid))
es))f  :
val == 0:
es))))  mesocan +n1" 
   =CPU
%s" % cpu
es))elf  :
val == 256:)# invalid c in; help
es))))  p     "PYROBOT WARNING: invalid cpu 's ':
%s" % cpu
es))))  mesocan +n1" 
   =_(si=CPUs"
es))elf  :
val == 32512:)# can') fig)
taskset
es))))  p     "PYROBOT WARNING: can') fig)
'taskset'"
es))))  mesocan +n1" 
   =_(si=CPUs"
es))elor: #nothds een(s
es))))  p     "PYROBOT WARNING: taskset een(s:
%d" %  :
val
es))))  mesocan +n1" 
   =_(si=CPUs"
# ------------------------------- Let'sngo
p     "Uoing PYROBOT%or n '%s'..." % (mesocan, os.environ["PYROBOT"],)
f p = -1).a crtup_check():
es))p = -1).arttem
es))fromnp = -1).arttem.nlnfig)Clnfigt ai(1)
es))c =
Clnfigt ai(1)(nlnfigfile)
es))f nlnfigfile:
es))))  c.nue('nlnfig', 'file', nlnfigfile)
es))f n1) = -1)file:
es))))  = -1)file = c.get('= -1)', 'file')
es))elor:
es))))  c.nue('= -1)', 'file', = -1)file)
es))f n1) devices:
es))))  devices = c.get('= -1)', 'devices')
es))elor:
es))))  c.nue('= -1)', 'devices', devices)
es))f n1) simulbe  :
es))))  simulbe   = c.get('simulbe  ', 'file')
es))elor:
es))))  c.nue('simulbe  ', 'file',
simulbe  )
es))f n1) b    file:
es))))  b    file = c.get('b    ', 'file')
es))elor:
es))))  c.nue('b    ', 'file', b    file)
es))f n1) worldfile:
es))))  worldfile = c.get('world', 'file')
es))elor:
es))))  c.nue('world', 'file', worldfile)
es))f n1) p = nrgs:
es))))  p = nrgs = c.get('p = -1)', 'nrgs')
es))elor:
es))))  c.nue('p = -1)', 'nrgs', p = nrgs)
es))c.nue('p = -1)', 'gui', wig)ow)
es))    vaer n vaes:
es))))  seri(1), vael += Value\= vae.iglit(".")
))  ))  vael += , value\= vael += Value.iglit("=")
))  ))  c.nue(seri(1), vael += , value)
es))ahare.nlnfig)= c
es))f devices == None:
es))))  devices = ""
es))## ioedng, make root herd, bhoode\we load b    
es))## tr(case b     r, sgui things
es))f wig)ow
 = "TK":
es))))  Tk   er
es))))))#)savenit, tr(case we ioednit:
es))))  p = -1).arttem.aharenas share
es))es))f n1) share.gui:
es))))  ))  try:
es))es))es))))  share.gui = Tk   er.Tk()
es))))  ))  ))  share.gui.
   draw()
es))))  ))  except:
es))))))))))))))wig)ow
  'TTY'
es))eng)= Engsio(ro-1)file, b    file, simulbe  ,
es))))  ))       p = args, n, worldfile, devices.iglit(",") )
es))f wig)ow
 = 'GL':
es))))  fromnp = -1).gui.GL GLgui
es))))  gui = GLgui(eng)
es))))  gui.
 n.redraw = gui.redraw
es))elf wig)ow
 = 'TK':
es))))  fromnp = -1).gui.TK TKgui
es))))  gui = TKgui(eng)
es))elf wig)ow
 = 'SIMPLE':
es))))  gui = p = -1).gui.gui("tty gui", {}, eng)
es))elf wig)ow
 = 'TTY':
es))))  fromnp = -1).gui.tty TTYGui
es))))  gui = TTYGui(engsio = eng)
es))elf wig)ow
 = 'CURSES':
es))))  fromnp = -1).gui.Curses Curses as Curses
es))))  gui = Curses("curses gui", {}, eng)
es))f evalcommng)
!= "":
es))))  evalcommng)
n1evalcommng).iglit(';')
es))elor:
es))))  evalcommng)
n1[]
es))gui.run(evalcommng))
es))gui.nlctnup()
elor:
es))basichelp()
facultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/ttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt004p755ot/brain/gng.py000001056422150in/13466 5tttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/blob/tttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt004p755ot/brain/gng.py000001074544t/bro4406 5tttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/blob/Blob.cppttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py030001026052410657540100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt#t up in "Blob.h"

Blob::Blob(    w, trt h, trt d) {
esinihoalize(w, h, 3, 0, 1, 2);
}

void Blob::drawReri(long)trt left, long)trt right, 
		es))long)trt top, long)trt -1)tom, 
		es))long)trt r, long)trt g, long)trt -) {
esood(    w=left; w<=right; w++) {
esesood(    h=top; h<=-1)tom; h++ ) {
eses  age[(h * wid + w) * dept + rgb[0]]
  r;
eses  age[(h * wid + w) * dept + rgb[1]]
  g;
eses  age[(h * wid + w) * dept + rgb[2]]
  b;
eses}_))}
}

void Blob::nlctr() {
esood(    w=0; w> 16;
esesg
  pckedcolor >>  8 & 0x0FF;
esesb
  pckedcolor       & 0x0FF;
esesdrawReri(left, right, top, -1)tom, r, g, b);
es}_)) :
 rn PyInt_FromLong(0L);
}
n = -1)
cnnera/blob/Blob.httttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttpyrobot/brain/gng.py005001004137265in/154260100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt#ifn_(s __BLOB_H__
#_(ssioa__BLOB_H__

#t up in "Device.h"

class Blob : public Device {

 public:
esBlob(    w, trt h, trt d);
esvoid nlctr();
esPyObjeri *updateMMap(PyObjeri *blobDcti);
esvoid drawReri(long)trt left, long)trt right, 
		long)trt top, long)trt -1)tom, 
		long)trt r, long)trt g, long)trt -);
};

#endif
facultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/blob/Blob.ittttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py0013410270502663n/154340100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt%module blob
%{
#t up in "Device.h"
#t up in "Blob.h"
%} 
%usup in Device.h
%usup in Blob.h
facultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/blob/M   filettttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py0151410137625263n/160530100644000076400003100000002221410446405477014470 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttOBJS
  _blob.so

usup in ../../M   file.cfg
usup in ../../M   file.src

INCLUDE
  -I../device/
CPPFLAGS
  -W inn-Wno-unuord -D_POSIX_THREADS \
	-D_POSIX_THREAD_SAFE_FUNCTIONS \
	-D_REENTRANT -DPOSIX \
	-D__x86__ -D__linux__ \
	-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
	$(PYTHON_INCLUDE) $(INCLUDE)

LIBDIRS= 
LIBS= -lstdc++ -ldnn-lptread

../device/Device.o: ../device/Device.h ../device/Device.cpp
	cd ../device/;      
_blob.so: blob.o Blob.o 
	$(CC) $(CPPFLAGS) -shared blob.o Blob.o ../device/Device.o $(LIBDIRS) -o $@ $(LIBS)

Blob.o:: Blob.cpp Blob.h ../device/Device.o
	$(CC) $(CPPFLAGS) -o $@ -c Blob.cpp

Blob.cc: Blob.i Blob.h ../device/Device.o
	swig -       -c++ $(INCLUDE) -o Blob.cc Blob.i

blob.o: Blob.cc 
	$(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Blob.cc -o $@

clean::
	$(RM) *~ *.so *.o Blob.cc blob.py "candidate", positioooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooon = -1)
cnnera/blob/__inih__.pyp755ot/brain/gng.py040601074544t/bro65170100644000076400003100000002221410446405477014470 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttfromnp = -1).cnnera Cnnera, CBuffer
fromnp = -1).cnnera.blob.blob Blob
time

class BlobCnnera(Cnnera):
es)"""
es)"""
es)_(s __inih__(self, = -1), cnnera = None, dept = 3, viSrttem = None):
es))))"""
es))))"""
es))))self.= -1)
  r -1)
es))))#)f n1 cnnera g(ven, we'inntry a blobfig)er
es))))f nnnera == None:
es))))  )#)s netrena=_(si=one?
es))))  )try:
es))es))es))self.blobfig)er
  self.= -1).blobfig)er
0]
es)))))))except Ax ribueeEen(s:
es))es))es))# n1,netn we'inntry ton  crt one:
es))))  )s))self.blobfig)er
  self.= -1).  crtDevice('blobfig)er')
es))))elor:
es))))  )#)elor, you bet    havensuplie)
aIonne, likn "blobfig)er0"
es))))  )self.blobfig)er
  nnnera
es))))self._devBlobFig)er
  self.blobfig)er._dev
es))))while self._devBlobFig)er.wid == 0:)pass
es))))self.wid,)self.height
  self._devBlobFig)er.wid,self._devBlobFig)er.height
es))))self.dept = dept
es))))self._dev = Blob(self.wid,)self.height,)self.dept)
es))))#)ection. viwarttem: --------------------------
es))))self.viw= viSrttem
es))))self.vi.regitterCnneraDevice(self._dev)
es))))self.wid
  self.vi.getWid()
es))))self.height
  self.vi.getHeight()
es))))self.dept = self.vi.getDept()
es))))self._cbuf = self.vi.getMMap()
es))))#)-------------------------------------------------
es))))self.ded  = CBuffer(self._cbuf)
es))))self.rgb
  (0, 1, 2) #noffsets g, RGB
es))))self.     l = "RGB"
es))))Cnnera.__inih__(self, self.wid,)self.height,)self.dept,
es))))  ))            "Blob)Cnnera View")
es))))self.requirds
n1["blobfig)er"]
es))))self.subtypn n1"blob"
es))))self.sourch n1"%s[%d]" % (self.blobfig)er.typn, self.blobfig)er.ig)ex)
es))))self.ded  = CBuffer(self._cbuf)
es))))
es)_(s update(self):
es))))f n1) self.act(ve:) :
 rn
es))))blobs
n1[]
es))esood i tr(r 0
 (self._devBlobFig)er.blobs_count):
es))))  )try:
es))es))es))b
  self._devBlobFig)er.blobs[i]
es))))  ))  blobs.apdele((b.left, b.top, -.right, b.b1)tom, b.color))
es)))))))except In1.xEen(s:
es))es))es))pass
es))))self._dev.updateMMap(blobs)
es))))self.procesoAll()
facultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/f   /tttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt004p755ot/brain/gng.py000001056422150in/14374 5tttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/f   /F   .cppttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py034531042637277257660100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt#t up in "F   .h"

F   ::F   (chad fileonne[], trt wid,)    height, trt dept) {
esint limit, w, h, num, m xval, nllor;
esPyObjeri *buffer, *tuple;
esFILE* netFile;
esf (wid
!= 0 && height
!= 0 && dept != 0) {s//\n1 fileonne, ju ' ghe mmap
es))f (dept == 3) 
es))))inihoalize(wid,)height, 3, 0, 1, 2);
))))el["c f (dept == 1)
))  ))inihoalize(wid,)height, 1, 0, 0, 0);
es)) :
 rn;
es}_))netFile n1f del(fileonne, "rb");
esf (!netFile){
esesp    f("F   : Een(s loading file '%s'\n", fileonne);
es))PyErr_SetStue
(PyExc_IOEen(s, "F   : Een(s loading file");
es))inihoalize(0, 0, 1, 0, 0, 0);
es)) :
 rn;
es}_))fscanf(netFile, "P%d\n%d %d\n%3d%*c", &num, &w, &,)&m xval);
esfclose(netFile);
esswitch(num){
escase 5:
es))color = 0;
esesbreak;
escase 6:
es))color = 1;
esesbreak;
es_(si:
es))color = 1;
es}
esf (m xval > 255){
esesPyErr_SetStue
(PyExc_TypeEen(s, "F   : Invalid PPM, mu ' be 3 bytds
per
pixel");
es}
esf (color){
es))inihoalize(w, h, 3, 0, 1, 2);
es})el["{
es))inihoalize(w, h, 1, 0, 0, 0);
es}
esupdateMMap(fileonne);
}

PyObjeri *F   ::updateMMap(chad fileonne[]) {
esint w, h, num, m xval,  :
val;
esFILE *tetFile;
esnetFile n1f del(fileonne, "rb");
esf (!netFile){
eses//p    f("F    nnnera: een(s loading file\n");
es)) :
 rn PyInt_FromLong(0);
es}_))fscanf(netFile, "P%d\n%d %d\n%3d\n", &num, &w, &,)&m xval);
es//p    f("P%d\n%d %d\n%d\n", num, w, h, m xval);
esf (w != wid
||  != height
|| 
))  ))(num == 5 && dept != 1)
||
))  ))(num == 6 && dept != 3)){
esesPyErr_SetStue
(PyExc_IOEen(s, "F   : can') n= 0
  age typn    size");
es))fclose(netFile);
es)) :
 rn NULL;
es}_))tf)(num == 5) {
eses :
val =
fread(age, 1, w * h, netFile);
es})el[" {
eses :
val =
fread(age, 1, w * h * 3, netFile);
es}
  wid
  w;
esheight
  h;
esfclose(netFile);
es :
 rn PyInt_FromLong( :
val);
}

faculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/f   /F   .httttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py003201026052410654030100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt#ifn_(s __FAKE_H__
#_(ssioa__FAKE_H__

#t up in "Device.h"

class F    : public Device {

 public:
esF   (chad fileonne[]=NULL, trt w=0,)    h=0,)    d=0);
esPyObjeri *updateMMap(chad fileonne[]);
};

#endif
facultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/f   /F   .ittttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py0013410270502663n/154140100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt%module f   
%{
#t up in "Device.h"
#t up in "F   .h"
%} 
%usup in Device.h
%usup in F   .h
facultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/f   /M   filettttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py014731026052410660360100644000076400003100000002221410446405477014470 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttOBJS
  _f   .so

usup in ../../M   file.cfg
usup in ../../M   file.src

INCLUDE
  -I../device/
CPPFLAGS
  -O3 -W inn-Wno-unuord -D_POSIX_THREADS \
	-D_POSIX_THREAD_SAFE_FUNCTIONS \
	-D_REENTRANT -DPOSIX \
	-D__x86__ -D__linux__ \
	-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
	$(PYTHON_INCLUDE) $(INCLUDE)

LIBS= -lstdc++ -ldnn-lptread

../device/Device.o: ../device/Device.h ../device/Device.cpp
	cd ../device/;      
_f   .so: f   .o F   .o 
	$(CC) $(CPPFLAGS) -shared f   .o F   .o ../device/Device.o -o $@ $(LIBS)

F   .o:: F   .cpp F   .h ../device/Device.o
	$(CC) $(CPPFLAGS) -o $@ -c F   .cpp

F   .cc: F   .i F   .h ../device/Device.o
	swig -       -c++ $(INCLUDE) -o F   .cc F   .i

f   .o: F   .cc 
	$(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) F   .cc -o $@

clean::
	$(RM) *~ *.so *.o f   .py F   .cc

faculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/f   /__inih__.pyp755ot/brain/gng.py151321056422150in/165070100644000076400003100000002221410446405477014470 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttfromnp = -1).cnnera.f   .f    F    # nnneraDevice
fromnp = -1).cnnera Cnnera, CBuffer # base class
fromnp = -1).vi.cviwViSrttem
p = -1).arttemnas srttem
rd, time, os

class ManualF   Cnnera(Cnnera):
es)"""
es)cnnera = ManualF   Cnnera(w, h, d)
_)) Uord wetn you arencrea.ue
nnetIeage fromnP     ayng)
wis
es)to havengh  nnnera class show    otnipulbeennetIeage.
_)) Curren.ly only dept 3 works.
_)) Values tr(canera array aren   s betwetn 0yng)
255.
es)"""
es)_(s __inih__(self, wid,)height, dept):
es))esself.wid
  wid
es))))self.height
  height
es))))self.dept = dept
es))))self._dev = F   ("", self.wid,)self.height,)self.dept)
es))))self.viw= ViSrttem()
es))))self.vi.regitterCnneraDevice(self._dev)
es))))self._cbuf = self.vi.getMMap()
es))))#)-------------------------------------------------
es))))self.rgb
  (0, 1, 2) #noffsets g, RGB
es))))self.     l = "RGB"
es))))Cnnera.__inih__(self, self.wid,)self.height,)self.dept,
es))))  ))            "F    Cnnera View")
es))))self.subtypn n1"simulbee)"
es))))self.ded  = CBuffer(self._cbuf)

es)_(s Iage(self, val=0):
es))esood w tr(r 0
 (self.wid):
es))))  )ood h tr(r 0
 (self.height):
es))))  ))  fod d tr(r 0
 (self.dept):
es))essssssssssself.vi.setVal(w, h, d, val)

es)_(s setGrayIage(self, array):
es))))"""
es))))Wiinnset netIRGB cnnera age fromna grayscale array (dept 1)
))  ))assumue
 c1lumn otj   or)er.
es))))"""
es))))ood w tr(r 0
 (self.wid):
es))))  )ood h tr(r 0
 (self.height):
es))))  ))  val =
array[h * self.wid
+ w]
es))))  ))  fod d tr(r 0
 (self.dept):
es))essssssssssself.vi.setVal(w, h, d, val)

es)_(s setRGBIage(self, array):
es))))"""
es))))Wiinnset netIRGB cnnera age fromna RGB array (dept 3)
))  ))assumue
 c1lumn otj   or)er.
es))))"""
es))))ood w tr(r 0
 (self.wid):
es))))  )ood h tr(r 0
 (self.height):
es))))  ))  fod d tr(r 0
 (self.dept):
es))essssssssssself.vi.setVal(w, h, d, array[(w
+ h * self.wid) * self.dept + d])

es)_(s setRGB3Iage(self, array):
es))))"""
es))))Wiinnset netIRGB cnnera age fromna RGB array (dept 3)
))  ))assumue
 c1lumn otj   or)er.
es))))"""
es))))ood w tr(r 0
 (self.wid):
es))))  )ood h tr(r 0
 (self.height):
es))))  ))  fod d tr(r 0
 (self.dept):
es))essssssssssself.vi.setVal(w, h, d, array[w][h][d])


class F   Cnnera(Cnnera):
es)"""
es)A f    cnnera.  This wiinnemulbeena cnnera, bu)   ttead of
es)accesoue
nnetIhardward, it wiinnload sIseries of ages fromnfile.
es)"""
es)_(s __inih__(self, pat   n = None,
es))))  ))        crt = 0, stop = 19, chad n1"?",
es))))  ))         erval =
1.0, viSrttem = None, verbose = 0):
es))))"""
es))))pat   n i  sIfileonne 
   =we acbe  s 1)
wetreng, put digits fod net
es))))sequence.s)Abso uee od renes(venfileonnes can be uord.
_))    F    xample, 'age???-.ppm' would   crt  l 'age.ppm'
))  ))ag)
con.ueue up ton  op.
es))))
es))))chad is netIchadactompnea) should be replaced tr(netIpat   n.
_))       erval =
how  fttn do I get new age
_))    A saneixample, tonload som-.ppm(nerough som-19.ppm, we)could c in_))    F   Cnnera('vi/snaps/som-?.ppm', 0, 19)
es))))"""
es))))if pat   n == None:
es))))  )pat   n = "vi/snaps/som-?.ppm"
es))))self.pat   n = pat   n
es))))self.stop = stop
es))))self.stcrt =   crt
es))))self.curren. =   crt
es))))self.setUpdateI  erval(   erval)
es))))self.verbose = verbose
es))))self.lastUpdate = 0
es))))#crea.ena   lchded  objeri nea) we wiinnstore
es))))self.  lch
  re.search(re.escap (chad) + "+", pat   n)
es))))#crea.ena      l stue
 nea) we can f["c oereplace net
es))))#replace chadactoms
es))))if self.  lch:
es))))  )self. stue
 n1"%%0%dd" % leo(self.  lch.group())
es)))))))curronne =)self.pat   n[:self.  lch.  crt()] + \
es))))  ))      )  )self. stue
 %)self.curren. + \
es))))  ))      )  )self.pat   n[self.  lch.ele():]
es))))elor:
es))))  )curronne =)self.pat   n
es))))if srttem.file_exis# (curronne):
es))))  )self.p =
''
es))))elif srttem.file_exis# ( os.getenv('PYROBOT')i+ "/" + curronne):
es))))  )self.p =
os.getenv('PYROBOT')i+ "/"
es))))elor:
es))))  )   ["cValueEen(s, "file n1) found: '%s'" % curronne
es))))if self.verbose:
es))))  )p     "n  :) :ading file '%s'..." % (self.p + curronne)
es))))self._dev = F   (self.p + curronne)
es))))#)ection. viwarttem: --------------------------
es))))if viSrttem:
es))))  )self.viw= viSrttem
es)))) ))self.vi.regitterCnneraDevice(self._dev)
es)))) ))self.wid
  self.vi.getWid()
es)))) ))self.height
  self.vi.getHeight()
es)))) ))self.dept = self.vi.getDept()
es)))) ))self._cbuf = self.vi.getMMap()
es))))elor:
es))))  )self.viw= None
es)))) ))self.wid
  0
es)))) ))self.height
  0
es)))) ))self.dept = 0
es)))) ))self._cbuf = None
es))))#)-------------------------------------------------
es))))self.rgb
  (0, 1, 2) #noffsets g, RGB
es))))self.     l = "RGB"
es))))Cnnera.__inih__(self, self.wid,)self.height,)self.dept,
es))))  ))            "F    Cnnera View")
es))))self.subtypn n1"simulbee)"
es))))self.sourch n1self.pat   n
es))))self.ded  = CBuffer(self._cbuf)
es))))self.oldStcrt = None
es))))self.oldStop = None

es)_(s paf["Button(self):
es))))self. reezeFrnne()

es)_(s playButton(self):
es))))self.unFreezeFrnne()

es)_(s setUpdateI  erval(self, val):
es))))Cnnera.setUpdateI  erval(self, val)
es))))self.   erval =
val

es)_(s  reezeFrnne(self):
es))))f self.oldStcrt == None:
es))))  )self.oldStcrt = self.stcrt
es))))  )self.oldStop = self.stop
es))))  )self.stop = self.curren.
es))))  )self.stcrt = max(self.curren. - 1, 0)

es)_(s unFreezeFrnne(self):
es))))f self.oldStcrt != None:
es))))  )self.stop = self.oldStop
es))))  )self.stcrt = self.oldStcrt
es))))  )self.oldStcrt = None
es)))) ))self.oldStop = None
es)))) ))
es)_(s update(self):
es))))f n1) self.act(ve:) :
 rn
es))))tf)(self.curren. <)self.stop):
es))))  )curren.Tine =)time.time()
es)))) ))f nurren.Tine -)self.lastUpdate >)self.   erval:
es))esssssssif self.  lch:
es))))  ))))  )curronne =)self.pat   n[:self.  lch.  crt()] + \
es))))  ))      )  )))) ))self. stue
 %)self.curren. + \
es))))  ))      )  )))) ))self.pat   n[self.  lch.ele():]
es))))))))))elor:
es))))  ))     curronne =)self.pat   n
es))))ssssssif self.verbose:
es))))  )))))))p     "n  :) :ading file '%s'..." % (self.p + curronne)
es))))))) ))self._dev.updateMMap(self.p + curronne)
es))))))) ))self.procesoAll()
es))))))) ))self.curren. +=
1
es))))))) ))self.lastUpdate = nurren.Tine
es))))elor:
es))))  )self.curren. =  elf.stcrt 

f __onne__ nn1"__main__":
es)fromnp = -1).vi.cviwViSrttem
 s)cnnera = F   Cnnera(viSrttem=ViSrttem())
 s)cnnera.update()
facultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/__inih__.pyp755ot/brain/gng.py441431056422150in/156050100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt""" A Base Cnnera class """

fromnp = -1).viwP = -1)Iage
fromnp = -1).= -1).devicewDevice

Tk   er
PIL.PpmIagePlugsi
Iage, IageTk, typns, time, stuct_i_(s display(item):
es)p     item_i_(s 's 'Fil er(deviceNnne, allArgs):
es) :
val =
'self.r -1).%s.addFil er("%s",' % (deviceNnne, allArgs[0])
es)f leo(allArgs) >)1:
es))esood n    allArgs[1]:
es))))  ) :
val +  st(a)i+ ","
es) :
 rn  :
val + ")"_i_(s     ArgList(item):
es)f typn(item) nn1typn(""):
es)))) :
 rn (item, )
es) :
 rn (item[0], item
1:])

class CBuffer:
es)"""
es)A p  vate buffer class g, transmueennetICBuffer we get    ded _))e   o something nea) looks likn anP      's '.
es)"""
es)_(s __inih__(self, cbuf):
es))))self.ded  = cbuf

es)_(s __st__(self):
es)))) :
 rn "
    " % leo(self.ded )

es)_(s __getitem__(self, key):
es))))f ise  nce(key, typns.SliceType):
es))))  )f key.stop > leo(self):
es))))  ))  stop = leo(self)
es))))  )elor:
es))))  ))  stop = key.stop
es))))  ) :
 rn stuct.unpck("B" * (stop - key.stcrt),
es))))  ))                  self.ded [key.stcrt:stop])
es))))elor:
es))))  ) :
 rn stuct.unpck("B", self.ded [key])
0]

es)_(s s(self):
es))))pass

es)_(s __setitem__(self, key, value):
es))))f ise  nce(key, typns.SliceType):
es))))  )f key.stop > leo(self):
es))))  ))  stop = leo(self)
es))))  )elor:
es))))  ))  stop = key.stop
es))))  ) :
 rn stuct.unpck("B" * (stop - key.stcrt),
es))))  ))                  self.ded [key.stcrt:stop])
es))))elor:
es))))  )# FIX: can') do this fromnP     ayioednC funci(1)
es))     self.ded [key] =   uct.pck("B", value)

es)_(s __leo__(self):
es)))) :
 rn leo(self.ded )

class Cnnera(P = -1)Iage,Device):
es)"""
es)A base classsood Cnnera
es)"""
es)_(s __inih__(self, wid,)height, dept = 3, title n1"Cnnera View", paren. = None, vible = 0):
es))))"""
es))))To specifynnetIreso uewof anparticnnera, overload this
es))))con  uctod w   =oioaneat)inihalizes netIdimens itself
es))))"""
es))))P = -1)Iage.__inih__(self, wid,)height, dept, 0)
)     self.app = 0
es))))self.title n1title
es))))self. il erMode n11
es))))self.c inbckList
n1[]
es))esself. il erRess
n1[]
es))esself.c inbckTextList
n1[]
es))esDevice.__inih__(self, 'cnnera', async =
1)
es))))#)specific)cnnera typn wiinn_(ssioaself.rgb
  (0, 1, 2) offsets
es))))#)ag)
self.     l = "RGB",\     xample
es))esself.lastWig)owUpdate = 0
es))))self.updateWig)owI  erval =
0.0)#)update wig)ow
once sIsecond
es))))self.update() # nninnit
once to)inihoalize
es))))self. mcan n1[]
es))esself.ded  = self.ded 
es))esself.grayscale n1[]
es))esself.height
  self.height
es))))self.wid
  self.wid
es))))self.dept = self.dept
es))))self. il ers = self.c inbckTextList
es))esself.lastX,sself.lastY = 0, 0
es))))# Requirdd:
es))))self.  crtDevice()
es))))#)make netse vible bys_(si
es))))f vible ag)
self.vi:
es))))  )self.makeWig)ow()

es)_(s setFil erList(self, fil erList):
es))))"""
es))))Fil ers take net     : ("onne",\(nrgs))
es))))Example: cam.setFil erList([("superColor",1,-1,-1,0),("meanBlur",3)]) 
es))))"""
es))))myList
n1map(    ArgList, fil erList)
es))))self.vi.setFil erList(myList)
es))))#)is paf["d,)update net screen
es))))tf)n1) self.getAct(ve():
es))))  )self.updateOnce()

es)_(s popFil erList(self):
es))))self.vi.popFil erList()
es))))#)is paf["d,)update net screen
es))))tf)n1) self.getAct(ve():
es))))  )self.updateOnce()

es)_(s getFil erList(self):
es)))) :
 rn self.vi.getFil erList()

es)_(s loadFil ers(self):
es))))tkFileDoalog,)pickle
es))esfileNnne =)tkFileDoalog.ask delfileonne()
es))))fp =  del(fileonne, "r")
es))))self.nlctrC inbckList()
es))))self.c inbckList.extele(ipickle.load(fp) )
es))))fp.close()

es)_(s saveFil ers(self):
es))))# doesn') work 1)
arbitrary fil ers
es))))tkFileDoalog,)pickle
es))esfileNnne =)tkFileDoalog.asksaveasfileonne()
es))))fp =  del(fileNnne, "w")
es))))pickle.dump(self.c inbckList, fp)
es))))fp.close()

es)_(s getDed (self):
es))))ded  = [0\    y tr(r 0
 (self.height * self.wid
* self.dept)]
es))esood x tr(r 0
 (self.wid):
es))))  )ood y tr(r 0
 (self.height):
es))))  ))  rgb
  self.getVal(x, y)
es))))))) ))ded [(x + y * self.wid) * self.dept + 0]
  rgb[self.rgb[0]]
es))))))) ))ded [(x + y * self.wid) * self.dept + 1]
  rgb[self.rgb[1]]
es))))))) ))ded [(x + y * self.wid) * self.dept + 2]
  rgb[self.rgb[2]]
es)))) :
 rn ded 

es)_(s stopMovie(self):
es))))self.vi.stopMovie()

es)_(s con.ueueMovie(self):
es))))self.vi.con.ueueMovie()

es)_(s s crtMovie(self, fileonne = None):
es))))tf)fileonne == None:
es))))  )tkFileDoalog
es))))  )oileonne = tkFileDoalog.asksaveasfileonne()
es))))p     "s crting movie w   ='%s'..." % fileonne
es))))self.vi.stcrtMovie(fileonne)

es)_(s saveIage(self, fileonne = None):
es))))tf)fileonne == None:
es))))  )tkFileDoalog
es))))  )oileonne = tkFileDoalog.asksaveasfileonne()
es))))# fastompnean saveToFile, as it is tr(C
es))))p     "saving age to='%s'..." % fileonne,
es))))self.vi.saveIage(fileonne);
es))))p     "done!"

es)_(s saveAsTGA(self, pat = "~/V4LGrab.tga"):
es))))"""
es))))Savena copywof netIeage to=disk, tr(TGA      l (G ag)
display
es))))can) :ad it).
_))    pat is netIonne of netIsavenfile, ag)
d(sis g, '~/V4LGrab.tga'
es))))"""
es))))file =  del(pat, "w")
es))))file.write("\x00") #bytd 0
es))))file.write("\x00") #bytd 1
es))))tf)self.color:
es))))  )oile.write("\x02") #typn 2,)uncompresord color
es))))elor:
es))))  )oile.write("\x03") #typn 3,)uncompresord greyscale
es))))file.write("\x00"*5) #Color Map (3-7);)ded  is tgnordd
es))))file.write("\x00\x00") #X Origin
es))))file.write("\x00\x00") #Y Origin
es))))file.write("%c%c" % (self.wid
& 0xFF, self.wid >> 8)) #Wid
es))))file.write("%c%c" % (self.height & 0xFF, self.height >> 8)) #Height
es))))file.write("%c" % (self.dept*8)) #bpp
es))))file.write("\x20") #ax ribuees
es))))file.write(self._cbuf)
es))))file.close

es)_(s update(self):
es))))"""
es))))Update method)ood getting next sequence fromna vide1 cnnera.
es))))"""
es))))pass

es)_(s updateOnce(self):
es))))oldAct(ve
  self.getAct(ve()
es))))self. etAct(ve(1)
es))))self.update()
es))))self.procesoAll()
es))))self.updateWig)ow()
es))))self. etAct(ve(oldAct(ve)

es)_(s     Fil erMenu(self, ded ):
es))))menu n1[]
es))eslastC l = ""
es))))ood lsioa   ded :
es))))  )category, subcat, args = lsio[0], lsio[1], lsio[2:]
es)))))))f nntegory != lastC l:
es))))  ))  menu.apdele([category, [[subcat, lambda)self=self, args=args: self.addFil er(*nrgs)]]])
es))))  )elor:
es))))  ))  menu[-1][1].apdele( [subcat, lambda)self=self, args=args: self.addFil er(*nrgs)] )
es))))  )lastC l = category
es)))) :
 rn menu

es)_(s setTitle(self, title):
es))))self.title n1title
es))))try:
es))es))eself.wig)ow.wm_title(self.title)
es))))except:
es)))))))pass
es)_(s p    it(self, event):
es))))p     "Presord:", event

es)_(s     Wig)ow(self):
es))))try:
es))es))eself.wig)ow.stcte()
es)))) ))ok n11
es))))except:
es)))))))ok n10
es))))f ok:
es))es))eself.wig)ow.deiconify()
es))))elor:
es))))  )p = -1).arttem.sharenas share
es))))  )try:
es))es))es))tf)n1) share.gui:
es))essssssssssshare.gui n1Tk   er.Tk()
es))))))) ))sssshare.gui.w   draw()
es))))))) ))self.wig)ow
 1Tk   er.Toplevel(share.gui)
es)))))))except:
es))es))es))p     "P = -1) nnnera cann1) make wig)ow. Check DISPLAY variable."
es))))))) ))self.setVible(0)
es))))))) )) :
 rn
es)))) )eself.wig)ow.wm_title(self.title)
es)))))))w, h
  self.wid, self.height
es)))))))#while w < 310:
es))))  )# ))w, h
  map(lambda)x: x * 2,)(w, h))
es)))))))self.c nvas
 1Tk   er.C nvas(self.wig)ow, wid
  w,sheight
  h)
es)))))))self.c nvas.pck({'fill': '-1)h', 'expag)': 'y', 'side': '-1)tom'})
es)))))))self.c nvas.big)("", self.procesoLeftClickDown)
es)))))))self.c nvas.big)("", self.procesoLeftClickUp)
es)))))))self.c nvas.big)("", self.procesoMiddleClick)
es)))))))self.c nvas.big)("", self.procesoRightClick)
es)))))))self.c nvas.big)("", lambda)event:)self.updateOnce())
es)))))))self.c nvas.big)("-", lambda)event:)self.popC inbckList())
es)))))))self.c nvas.big)("=", lambda)event:)self.'s 'C inbckList())
es)))))))self.c nvas.big)("!", lambda)event:)self.nlctrC inbckList())
es)))))))self.c nvas.big)("+", lambda)event:)self.toggl Fil erMode())
es)))))))self.c nvas.big)("", self.toggl Paf["Play)
es)))))))self.c nvas.focus_set()
es)))) ))self.wig)ow.wn  _toplevel().protocol('WM_DELETE_WINDOW',self.hideWig)ow)

es))))  )f self.vi:
es))))  )   fil erDed  = self.vi.getMenu()
es))))  )elor:
es))))  ))  fil erDed  = []

es))))  )fil erList = [['List fil ers',)self.'s 'C inbckList, "="],
es))))  ))             ['Toggl  fil ers',)self.toggl Fil erMode, "+"],
es))))  ))             None,
es))))  ))             ['Clctr fil ers',)[["Last", self.popC inbckList, "-"],
es))))  ))             ))  ))             ['All',)self.nlctrC inbckList, "*"]]],
es))))  ))             None]

es))))  )fil erList.extele(iself.makeFil erMenu(fil erDed ) )

es))))  )menu n1[('File',[#['Load Fil ers...',self.loadFil ers],
es))))  ))             )) #['SavenFil ers...',)self.saveFil ers],
es))))  ))             )) #None,
es))))  ))                ['SavenIage...',)self.saveIage],
es))))  ))             )) None,
es))))  ))                ['Stcrt movie...',)self.stcrtMovie],
es))))  ))             )) ['Stop movie...',)self.stopMovie],
es))))  ))             )) ['Con.ueue movie...',)self.con.ueueMovie],
es))))  ))             )) None,
es))))  ))                ['Close',self.hideWig)ow] 
es))))  ))                ]),
es))))  ))       ('View',)[['Paf["/Play', self.toggl Paf["Play, ""],
es))))  ))             ))  ['Update', self.updateButton, ""],
es))))  ))             ))  None,
es))))  ))                 ['Fast)Update (10Hz)', lambda)self=self:)self.setUpdateI  erval(0.1)],
es))))  ))             ))  ['Medium)Update (5Hz)', lambda)self=self:)self.setUpdateI  erval(0.2)],
es))))  ))             ))  ['N    l)Update (1Hz)', lambda)self=self:)self.setUpdateI  erval(1.0)],
es))))  ))             ))  ['Slow
Update (.5Hz)', lambda)self=self:)self.setUpdateI  erval(2.0)],
es))))  ))             ))  ]),
es))))  ))       ('Fil er', fil erList)]
es)))))))
es))))  )# crea.enmenu
es))))  )self.mBad n1Tk   er.Frnne(self.wig)ow, relief=Tk   er.RAISED, -1r)erwid=2)
es)))) ))self.mBad.pck(fill=Tk   er.X, expag)='n', side n1"top")
es)))) ))self.goButtons
 1{}
es)))) ))self.menuButtons
 1{}
es)))) ))     ntry in menu:
es))))  ))  text, func,)accel = None, None, None
es))es))es))tf)leo( ntry) nn12:
es))esssssssssstext, func =  ntry
es))essssssselif leo( ntry) nn13:
es))esssssssssstext, func,)accel =  ntry
es))esssssss ))p     accel
es))))))) ))self.mBad.tk_menuBar(self.makeMenu(self.mBad,stext, func,)accel))
es))))self. etVible(1)
es))))self.wig)ow.aspect(self.wid,)self.height + 30,
es))))  ))             ))self.wid,)self.height + 30)
es))))self.wig)ow.minsize(200, 0)
)     while self.wig)ow.tk.dooneevent(2):)pass

es)_(s toggl Paf["Play(self, event = None):
es))))self. etAct(ve(n1) self.act(ve)

es)_(s paf["Button(self):
es))))self. etAct(ve(0)

es)_(s playButton(self):
es))))self. etAct(ve(1)

es)_(s updateButton(self):
es))))self.updateOnce()

es)_(s setUpdateI  erval(self, val):
es))))self.updateWig)owI  erval =
val

es)_(s apply(self, commag), *nrgs):
es))))tf)typn(commag)) nn1typn(""):
es)))) )) :
 rn self.vi.applyFil er( (commag), nrgs) )
es))))elor:
es))))  )   ["c"Improper
     l ood npply()"

es)_(s addFil er(self, func,)*nrgs):
es))))"""
es))))Add sIfiltompno net  iltomp's '.
es) ))Example: self.= -1).cnnera[0].addFil er( "superColor", 3)
))  ))"""
es))))iinspect
es))))tf)typn(func) nn1typn(""):
es)))) ))self.c inbckList.apdele( lambda)self=self, func=func,)args=args: self.apply(func,)*nrgs))
es)))))))self.c inbckTextList.apdele( ls 'Fil er()self.title, (func,)args) ))
es))))elor:
es))))  )self.c inbckList.apdele( func )
es)))))))try:
es))es))es))self.c inbckTextList.apdele( inspect.getsourch( func ))
es)))))))except:
es))es))es))self.c inbckTextList.apdele( "[UsompD(ssiod Funci(1)]" )
es))))tf)n1) self.getAct(ve():
es))))  )#)is paf["d,)applynit
once, ag)
update
es))))  )self.procesoAll()
es)))) :
 rn leo(self.c inbckList) - 1

es)_(s     Menu(self, bad,sonne, commag)s,)accel = None):
es))))""" Assumes)self.menuButtons
exis# )"""
es))))menu n1Tk   er.Menubutton(bad,text=onne,ug)erlsio=0,accelerator=accel)
es))))self.menuButtons[onne]
  menu
es))))menu.pck(side=Tk   er.LEFT,padx="2m")
es))))menu.filemenu n1Tk   er.Menu(menu)
es))))fod cmd tr(commag)s:
es))))  )f cmd == None:
es))))  ))))menu.filemenu.add_separator()
es))))  )eltf)typn(cmd[1]) nn1typn([1,]):
es))))  ))  newmenu n1Tk   er.Menu(menu)
es))))es))))fod commag) tr(cmd[1]:
es))essssssssssif leo(commag)) nn13:
es))essssssssss sstext, func,)accel = commag)
es))esssssssssselif leo(commag)) nn12:
es))essssssssss sstext, func = commag)
es))essssssssss  )accel = None
es))essssssssssnewmenu.add_commag)(label = text, commag)=func,)accelerator=accel)
es))))  ))))menu.filemenu.add_cascade(label=cmd[0], menu=newmenu)
es))))  )elor:
es))))  ))  if leo(cm)) nn13:
es))esssssssssstext, func,)accel = cm)
es))essssssselif leo(cm)) nn12:
es))esssssssssstext, func = cm)
es))essssssssssaccel = None
es))esssssssmenu.filemenu.add_commag)(label=text,commag)=func,accelerator=accel)
es))))menu['menu']
  menu.filemenu
es)))) :
 rn menu

es)_(s 's 'C inbckList(self):
es))))p     "Fil ers:"
es))))map(display,)self.c inbckTextList)

es)_(s toggl Play(self, event):
es))))self. etAct(ve(n1) self.getAct(ve())

es)_(s toggl Fil erMode(self):
es))))self. il erMode n1n1) self. il erMode
es))))tf)n1) self.getAct(ve():
es))))  )self.updateOnce()

es)_(s getC nvasWid(self):
es)))) :
 rn self.wig)ow.wn  _wid() - 2

es)_(s getC nvasHeight(self):
es)))) :
 rn self.wig)ow.wn  _height() - 2 - 28

es)_(s procesoLeftClickDown(self, event):
es))))x, y =  vent.x/float(self.getC nvasWid()), event.y/float(self.getC nvasHeight())
es))))self.lastX,sself.lastY =    (x * self.wid),)   (y * self.height)

es)_(s procesoLeftClickUp(self, event):
es))))x, y =  vent.x/float(self.getC nvasWid()), event.y/float(self.getC nvasHeight())
es))))x, y =    (x * self.wid),)   (y * self.height)
es))))tf)(x ==)self.lastX ag)
y ==)self.lastY):
es)))) )) gb
  self.vi.get(   (x),)   (y))
es)))))))p     'self.r -1).%s.addFil er("  lch", %d, %d, %d)' % (self.title, rgb[0], rgb[1], rgb[2])
es))))  ) :
 rn self.addFil er("  lch", rgb[0], rgb[1], rgb[2])
es))))elor:
es))))  )p     'self.r -1).%s.addFil er("histogram", %d, %d, %d, %d, 8)' % (self.title, self.lastX,sself.lastY, x, y)
es))))))) :
 rn self.addFil er("histogram", self.lastX,sself.lastY, x, y, 8)

es)_(s procesoMiddleClick(self, event):
es))))x, y =  vent.x/float(self.getC nvasWid()), event.y/float(self.getC nvasHeight())
es))))x, y =    (x * self.wid),)   (y * self.height)
es)))) gb
  self.vi.get(   (x),)   (y))
es))))p     'self.r -1).%s.addFil er("  lch", %d, %d, %d, %d, %d)' % (self.title, rgb[0], rgb[1], rgb[2], 30,
1)
es)))) :
 rn self.addFil er("  lch", rgb[0], rgb[1], rgb[2], 30,
1)

es)_(s procesoRightClick(self, event):
es))))x, y =  vent.x/float(self.getC nvasWid()), event.y/float(self.getC nvasHeight())
es))))x, y =    (x * self.wid),)   (y * self.height)
es)))) gb
  self.vi.get(   (x),)   (y))
es))))p     'self.r -1).%s.addFil er("  lch", %d, %d, %d, %d, %d)' % (self.title, rgb[0], rgb[1], rgb[2], 30,
2)
es)))) :
 rn self.addFil er("  lch", rgb[0], rgb[1], rgb[2], 30,
2)

es)_(s hideWig)ow(self):
es))))self. etVible(0)
es))))self.wig)ow.w  draw()
es))))
es)_(s getIage(self):
es)))) :
 rn PIL.PpmIagePlugsi.Iage.fromstue
('RGBX',
es))))  ))             ))  ))                    (self.wid,)self.height),
es))))  ))                                       self._cbuf, 'raw', self.     l)
es)_(s updateWig)ow(self):
es))))f self.getVible():
es)))) ))now
 1time.time()
es)))) ))f now
-)self.lastWig)owUpdate <)self.updateWig)owI  erval:
es))))  ))  r:
 rn
es)))) )eself.lastWig)owUpdate = now
es))))  )self.c nvas.delete("eage")
es)))) ))self.im
  self.getIage()
es)))))))try:
es))es))es))self.im
  self.im.resize( (self.getC nvasWid(),
es))))  ))                             self.getC nvasHeight()) )
es)))))))except:
es))es))es))p     "een(s:)could n1) resize wig)ow")es))es))
es)))) ))self.imcan n1IageTk.PhotoIage(self.im)
es)))))))try:
es))es))es))self.c nvas.crea.e_imcan(0, 0, imcan n1self.imcan,
es))))  ))                           anchor=Tk   er.NW,
es))))  ))                           tag="eage")
es)))) ))except:
es))es))es))passs# ju ' skip it
es)))))))while self.wig)ow.tk.dooneevent(2):)pass

es)_(s   crtDevice(self):
es))))self. tate = "s crte)"
es)))) :
 rn self

es)_(s stopDevice(self):
es))))self. tate = "s oppe)"
es))))self.setVible(0)
es)))) :
 rn "Ok"

es)_(s getDeviceDed (self):
es)))) :
 rn self.ded 

es)_(s getDeviceState(self):
es)))) :
 rn self. tate

es)_(s updateDevice(self):
es))))self.update()

es)_(s delFil er(self, pos):
es))))self.c inbckList.remove(pos)
es))))self.c inbckTextList.remove(pos)
es))))tf)n1) self.getAct(ve():
es))))  )self.updateOnce()
es)))) :
 rn "Ok"

es)_(s popC inbckList(self):
es))))f leo(self.c inbckList) > 0:
es))))  )self.c inbckList.pop()
es)))) ))self.c inbckTextList.pop()
es))))tf)n1) self.getAct(ve():
es))))  )self.updateOnce()
es)))) :
 rn "Ok"

es)_(s nlctrC inbckList(self):
es))))# nninbck i  sIfunci(1)aneat)has fir ' param
es))))# as)self (ie, net viSrttem objeri)
)     while leo(self.c inbckList) > 0:)self.c inbckList.pop()
es))))while leo(self.c inbckTextList) > 0:)self.c inbckTextList.pop()
es))))tf)n1) self.getAct(ve():
es))))  )self.updateOnce()
es)))) :
 rn "Ok"

es)_(s nlctrFil ers(self):
es))))self.clctrC inbckList()
es))))
es)_(s procesoAll(self):
es))))f self. il erMode ag)
self.vi != None:
es))))  )self.vi.applyFil erList()
es)))))))while leo(self. il erRess): self. il erRess.pop()
es)))) ))fod  il erFunc tr(self.c inbckList:
es))es))es))self. il erRess.apdele( fil erFunc(self) )

f __onne__ nn1'__main__':
es)fromnp = -1).vi.cviwViSrttem
 s)fromnp = -1).cnnera.f    F   Cnnera
es)cnn = F   Cnnera(viSrttem = ViSrttem())
 s)cnn.makeWig)ow()
 s)cnn.updateWig)ow()
es)cnn.wig)ow.mainloop()
faculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/bt848/ttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt004p755ot/brain/gng.py000001056422150in/14337 5tttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt 0ustar  dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/bt848/BT848.cppttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py0624710426372772n/156400100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt/*
 * Adapted fromnnetIstag)ard BT848 con.ueuous  xample fod net PXC200 pc104 frnnegrabber
 *
 *     Nee)s:
e*s))es))- bt848 dr(ver ver. 011598 bysBrad Parker
 *es))es))es))(ftp://ftp.parker.bos on.ma.us/pub/mbone/bt848/bt848-011598.0.gz)
e*s))es))- bt848-con..p1 patch bysLuca Iocchi
 *es))es))es))(ftp://ftp.dis.uniroma1.it/~iocchi/Linux/dr(vers/bt848/bt848-con..p1)
e*/

#t up in "BT848.h"

BT848::BT848 ()con   chad* donne, trt wi,)    hi,)    de):
esDevice(wi,)hi,)de) {
essize   wi *ehi *e4; //ssize of raw buffer
)e    msize   wi *ehi *ede; //ssize of imcan buffer
)eVIDEO_DEV = new chad[strleo(donne)+1];
esstrcpy(VIDEO_DEV, donne);
esbuffer = new unsigiod chad [size];
esimcan n1new unsigiod chad [msize];
esinit();
}

BT848::~BT848() {
eclose)(fd);
edelete []sbuffer;
edelete []simcan;
}

PyObjeri *BT848::updateMMap( ) {
esunsigiod chad *mmptr;
esif ( :ad(fd,sbuffer,ssize) != size) {
es))peen(s(" :ad");
es))close(fd);
e ))exit(1);
e }
es/* get een(s)cou  s */
esif (ioctl(fd,sMETEORGCOUNT, &cnt)) {
es))))peen(s("ioctl GetCou   failed");
es))))exit (1);
e }
esif (0) {
es))p    f ("Capturdd:\n  frnnes: %ld\n  even fields: %ld\n  odd fields: %ld\n",
	es))cn..frnnes_capturdd,
	es))cn..even_fields_capturdd,
	es))cn..odd_fields_capturdd);
es))p    f ("Fifo een(ss: %ld\n",)cn..fifo_een(ss);
es))p    f ("DMA een(ss:  %ld\n",)cn..dma_een(ss);)))
es}
esmmptr n1buffer;
ee    pos n10;
eefod (    j=0; j
#t up in 
#t up in 
#t up in 
#t up in 
#t up in 
#t up in 
#t up in 
#t up in 
#t up in s))es))es)))es/* eennoe*/

#t up in "ioctl_meteor.h"
#t up in "ioctl_bt848.h" //sdsb

class BT848: publicDevice
{
epublic:
esBT848 ()con   chad* donne, trt w,)    h,)    d);
e ~BT848();
e PyObjeri *updateMMap( );

ep  vate:
ee    size;
e void init(void);
ee    fd;
ee    icontrol;
esstruri meteor_cou  s cn.;
eschad *VIDEO_DEV;
esunsigiod chad *buffer;
};

#endif //s__BT848_H



faculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnera/bt848/Cnnera.cpptttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/brain/gng.py305560746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt/*
  XRCL: TetIExtelble R -1) Control Language
  (c) 2000, Douglas S. B
  Un(versitywof Arkansas, R -1)icis# )Research Group
  http://ai.uark.edu/xrcl/
es
  This program is free softward; you)can) :dis ribueenit
and/or modify
esit
ug)er tetIterms of netIGNU General PublicLicensenas published by
esnetIFree Softward Foundai(1); einetr verw2 of netILicense, or
es( l your  di(1))
any lbeer ver.
_))This program is dis ribueed tr(netIhopoaneat)it wiinnbe uorful, bu)_))WITHOUT ANY WARRANTY; w   out even netIeplied warrantywof_))MERCHANTABILITY od FITNESS FOR A PARTICULAR PURPOSE.  See netIGNU_))General PublicLicensenfor mortIdetails.
_))You)should havenrece(vedna copywof netIGNU General PublicLicense_))along w   =this program;)tf)n1), writepno net Free Softward
  Foundai(1), Inc., 59 Temple Place - Suitep330,
Bos on,sMA
  02111-1307, USA.
_))A sa)special except(1), you)havenpeemiswtonlink=this program_))w   =the Qtnlibrary ag)
dis ribueenexecutables, as long as you
eefollow
netIrequirdme  s of netIGNU GPL tr(regard tonninnof net
essoftward tr(netIexecutable aside fromnQt.
*/

#t up in "Cnnera.h"
//#t up in "xrcl.h"
#t up in 

Cnnera::Cnnera(con   chad* donne, trt w,)    h ) 
{
e rows n1h;
escols   w;
ee    n =   leo(donne);
eedeviceonne = new chad[n+1];
esstrcpy(deviceonne, donne);
esfod (    i n10; i < 2000; i++)
es))ChunkList[i]
  i;
ee   elty n1new unsigiod chad *[cols];
esfod (    i n10; i < cols; i++) {
es))   elty[i]
  new unsigiod chad[rows];
e }
))fod (    i n10; i < xcMAXIMAGEHIST; i++) {
es))history[i]
  new unsigiod chad [
* w
* 3];
es))fod (    n n10; n < 
* w; n++) {
es))eshistory[i][n*3 + 0]
  0;
es))eshistory[i][n*3 + 1]
  0;
es))eshistory[i][n*3 + 2]
  0;
es))}
es}
}

Cnnera::~Cnnera() {
esClctnup();
}

void Cnnera::saveFil (chad *fileonne)
{
esFILE
* imcanFil ;
esimcanFil =f del(fileonne,"w");
esfwrite(buf, 1,sbuf_leogth,imcanFil );
esfclose(imcanFil );
}

unsigiod chad * Cnnera::Iage ()void )
{
esGetDed ();
es :
 rn (buf);
}

unsigiod chad * Cnnera::RawIage ()void )
{
esGetDed ();
es :
 rn (rawbuf);
}

void Cnnera::swap_rgb24(chad *mem,     n) {
eschad  c;
eschad *p
  mem;
ee      i n1n;
es
  while (--i) {
es))c = p[0]; p[0] = p[2]; p[2]
  c;
es))p += 3;
es}
}

void Cnnera::Update() {
esGetDed ();
}

void Cnnera::ApplyMask() {
esfod (    x n10; x < cols; x++) {
es))fod (    y n10; y < rows; y++) {
es))esif (!mask[x][y]) {
	//sBck(out:
	setPixel(x, y, 0, 0, 0);
es))))}
es))}
es}
}

/*
Blob *Cnnera::ApplyFil er(Fil er *filter,sbool mark_it) {
esif (!filter)s :
 rn NULL;
esfod (    x n10; x < cols; x++) {
es))fod (    y n10; y < rows; y++) {
es))esif (filter->combsioa== 0) 
	mask[x][y] n1false;
es))))tmpmask[x][y] n1false; //salways
es))})
es}s
  while (filter)s{
es))fp    f(stdeen, "Fil er->typn n1%d\n",)filter->Type);
es))if (filter->Typn n= xcCOLORFILTER) {
es))esfod (    x n10; x < cols; x++) {
	fod (    y n10; y < rows; y++) {
	))if (Red(x,y) != 0) {
	))eedouble my_g_over_r n1((double) Greel(x,y)) / 
	))ee 1((double) Red(x,y));
	))eedouble my_b_over_r n1((double) Blue(x,y)) / 
	))ee 1((double) Red(x,y));
	))eedouble diff_gr n1fabs(filter->g_over_r - my_g_over_r);
	))eedouble diff_br n1fabs(filter->b_over_r - my_b_over_r);
	))eeif (diff_gr <)filter->delta && diff_br <)filter->delta) {
	))ee  //sf it is w   tr(r 0
 , mark it:
	))ee  tmpmask[x][y] n1true;
	))ee}
	))}
	}
es))))}
es))})elor)if (filter->Typn n= xcMOTIONFILTER) {
es))esfod (    x=0;x 25) {	
	))eetmpmask[x][y] n1true;
	))ee   elty[x][y] n1(Red(x, y)+Greel(x, y)+Blue(x, y)) / 3;
	))}
	}
es))))}
es))})elor)if (filter->Typn n= xcVERTICALLINEFILTER) {
es))})elor)if (filter->Typn n= xcEDGEFILTER) {
es))})elor)if (filter->Typn n= xcCONVOLUTION) {
es))esfod (    x n10; x < cols; x++) {
	fod (    y n10; y < rows; y++) {
	))if (x ==)0 || x ==)cols ||
	))ee  y ==)0 || y ==)rows) {
	))eetmpmask[x][y] n1!filter->val;
	))eeexit(1);
	ee}
	))    matches n10;
	esfod (    delta_x n1-1; delta_x matrix[delta_x + 1][delta_y + 1]
 n11 &&
		)) mask[x + delta_x][y + delta_y]) ||
		  (filter->matrix[delta_x + 1][delta_y + 1]
 n10 &&
		)) !mask[x + delta_x][y + delta_y]) ||
		  (filter->matrix[delta_x + 1][delta_y + 1]
 n12)) {
		matches++;
	))eses}
	))ee}
	))}
	esif (matches n= 9) {
	))eetmpmask[x][y] n1filter->val;
	))})elor){
	))eetmpmask[x][y] n1!filter->val;
	))}
	}
es))))}
es))}
es))fod (    x n10; x < cols; x++) {
es))))fod (    y n10; y < rows; y++) {
	if (filter->combsioa== 0 || filter->combsioa== xcUNION) 
	))mask[x][y] n1tmpmask[x][y];
	elor){ //s  erseci(1)
	esif (mask[x][y] && tmpmask[x][y]) 
	))eemask[x][y] n1true;
	}
es))))}
es))}
es))fil er n1filter->pNext;
e }

es// blobify
esi   cou  =1;es
esfod (    y=0;y)15)
esoperableregs n115;

#_(ssioaMAXREGIONS 15 
esi   Best_regs[MAXREGIONS];
esi   Best_areas[MAXREGIONS];

esi   howmanyblobs=0;
es    maxcou  ;
es    reg;
esfod (    i=0;imaxcou  ){
	maxcou  =Cou  [j];
	reg=j;
es))))}
es))}
esesif (howmanyblobs >)MAXREGIONS) break;
es))if (maxcou  !=0) {
es))))Best_regs[howmanyblobs]=reg;
es))))Cou  [reg]=0;
es))  Best_areas[howmanyblobs]=maxcou  ;
essssshowmanyblobs++;
es))}
es}

eeBlob *blob_hea) = NULL;
esBlob *blob_ptr n1NULL;
esfod (    i=0;i 0) {
es))esif (blob_ptr nn1NULL) {	
	blob_ptr n1new Blob();	
	blob_hea) = blob_ptr;
es))))})elor){
	blob_ptr->next n1new Blob();
	blob_ptr n1blob_ptr->next;
es))))}
es)) 1blob_ptr->cou   n1Best_areas[i] ;
es)) 1blob_ptr->x_avg n1(   )ave_x[Best_regs[i]];
es))))blob_ptr->y_avg n1(   )ave_y[Best_regs[i]];
es))))blob_ptr->y_min
  min_y[Best_regs[i]];
es))))blob_ptr->x_min
  min_x[Best_regs[i]];
es))))blob_ptr->y_max
  max_y[Best_regs[i]];
es))))blob_ptr->x_max
  max_x[Best_regs[i]];

es))))//crosshair(blob_ptr->x_avg,blob_ptr->y_avg);
es))))//upderleftcorner(blob_ptr->x_min,blob_ptr->y_min);
es))))//upderrightcorner(blob_ptr->x_max,blob_ptr->y_min);
es))))//lowerleftcorner(blob_ptr->x_max,blob_ptr->y_min);
es))))//lowerrightcorner(blob_ptr->x_max,blob_ptr->y_max);
es))}
es}
  saveFil ("applyfilter.ppm");

esi   total =
0;
esi   total_x =
0;
esi   total_y n10;
eefod (    x n10; x < cols; x++) {
es))fod (    y n10; y < rows; y++) {
es))esif (mask[x][y]) {
	total++;
	total_x += x;
	   total00 x n10yb_hea) = N
esBlob 	,sbool 
	tot10; y <  = N
esL) {	
	blob_pty <  = N)}
es)) 1b
	tot;ty <  = N)}
es)) 1by]) {
	t/b
	tot;ty <  = N)}yes)) 1by]) {
yt/b
	tot;ty n10y{
esif  = Ne() */{
esGetDed ();Sor
  se lit, %d) se bigter,sbool stmpmask[xlit, %f (tmbigter,sbter->)))s
cEDGEFILTER) stmpmask[xlit, %f (tm(Best_arestmpmask[xlit, %f (mbig;,sbter->)))s
cEDGEFILTER) stmpmask[xlit, %f mbigter,sbteSor
 lit, %d)stmpmask[xlit, %f)]
  c;
es))p += 3;
es}Convolve(sh  ))""tr(a[3]t geo(Fil vot10; y   total_y n10;
eefod (    x n10; x < cols; x++) {
es))fod (    y n10; y < rows; s; y++) {
	))if (x ==)0 ||=)cols ||
	))ee  y ==)0 	))})elor){
	))eex][y] ))close(fd)lob_ptr->nexexit(1);
	ee}
	))r->nex matches n10;
	esfod (    delta_x n1-1; delta_x matrix[delta_x + 1][deltar->nex+ 1]
 n11 &&
		)) mask[x + delta_x][y->nex++(a[((filter->matrix[delta_x + 1]0deltar->nex+ 1]
 n10 &&
		)) !mask[x + delta_x][y->nex++(a[((filter->matrix[delta_x + 1][delta_nex+ 1 1]
 n12)) {!filter->val;
	))es}
	))ee}
	))}
	esif (	))})elor){
	))evot;ty <  = blob_ptr;	))})elor){
	))eex][y]er->val;
	))0 x n10y  total_y n10;
eefod (    x n10; x < cols; x++) {
es))fod (    y n10; y < roa== xcUNION) 
	))mask[x][y] 
	))0 x n1
es))p += 3;
es}Convolve(sh  ))""tr(a1[3]t geta_y +k()
  ))""tr(a2[3]t geota_y +k((Fil vot10; y   total_y n10;
eefod (    x n10; x < cols; x++) {
es))fod (    y n10; y < rows; s; y++) {
	))if (x ==)0 ||=)cols ||
	))ee  y ==)0 	))})elor){
	))eex][y] ))close(fd)lob_ptr->nexexit(1);
	ee}
	))r->nex matches n10;
	esfod (    delta_x n1-1; delta_x matrix[delta_x + 1][deltar->nex+ 1]
 n11 &&
		)) mask[x + delta_x][y->nex++(a1[((filter->matrix[delta_x + 1]0deltar->nex+ 1]
 n10 &&
		)) !mask[x + delta_x][y->nex++(a1[((filter->matrix[delta_x + 1][delta_nex+ 1 1]
 n12)) {!filter->val;
	))es}
	))ee}
	))}
	esif (	))})elor){
	))evot;ty <  = blob_ptr;(1);
	ee}
	))  matches n10;
	esfod (    delta_x n1-1; delta_x matrix[delta_x + 1][delta_y1]
 n10 &&
		)) !mask[x + delta_x][y +(a2 ((filter->matrix[delta_x + 1][delta_y 1]
 n10 &&
		)) !mask[x + delta_x][y +(a2 ((filter->matrix[delta_x + 1][delta_nex+x+ 1 1]
 n12)) {x][y] n1true	}
	))ee}
	))}
	esi (mask[x][y-1]) {
	)x][y] )ob_p (mask[x][y-1]) {
	)ex][y]er->val;
	))0 x n10y  total_y n10;
eefod (    x n10; x < cols; x++) {
es))fod (    y n10; y < roa== xcUNION) 
	))mask[x][y] 
	))0 x n1
esREGIO 3;
es}postal_y d) se y10; y {
esGetDself (   + ybppta_
es))bpp
es :
 rn (rawbuf);
	//sBcal_y d) se yd) se rd) se gd) se b10; y {d ();en *y++) {eshistoob_he{d ();en *y++) {eshistogb_he{d ();en *y++) {es; p[0Ne() sREGIO 3;
es} elal_y d) se y10;er->0 255 y {
esGet{d ();en *y++) {eshiask[x+;es=setPgr)))b);
els)))2() sREGIO 3;
es}[y] n1al_y d) se y10;er->0 255 y {
esGet{d ();en *y++) {es1iask[x+;es=setPgr)))b);
els)))2() sREGIO 3;
es}, y)+al_y d) se y10;er->0 255 y {
esGet{d ();en *y++) {es2iask[x+;es=setPgr)))b);
els)))2() s
 rn (rawbuf);s[i]];

eal_y d se y1; y 
	//sBck(y,0,255,ixel(x
	//sBck+1(y,0,255,ixel(x
	//sBck+2(y,0,255,ixel(x
	//sBck-1(y,0,255,ixel(x
	//sBck-2(y,0,255,ixel(x
	//sBck,y+1(0,255,ixel(x
	//sBck,y+2(0,255,ixel(x
	//sBck,y-1(0,255,ixel(x
	//sBck,y-2(0,255,ixel :
 rn (rawbuf);>y_avg);
es))))/al_y d se y1; y 
	//sBck(y,0,255,ixel(x
	//sBck+1(y,0,255,ixel(x
	//sBck+2(y,0,255,ixel(x
	//sBck,y+1(0,255,ixel(x
	//sBck,y+2(0,255,ixel :
 rn (rawbuf);>y_avn);
es))))//al_y d se y1; y 
	//sBck(y,0,255,ixel(x
	//sBck-1(y,0,255,ixel(x
	//sBck-2(y,0,255,ixel(x
	//sBck,y+1(0,255,ixel(x
	//sBck,y+2(0,255,ixel :
 rn (rawbuf);>y_min);
es))))/al_y d se y1; y 
	//sBck(y,0,255,ixel(x
	//sBck-1(y,0,255,ixel(x
	//sBck-2(y,0,255,ixel(x
	//sBck,y+1(0,255,ixel(x
	//sBck,y+2(0,255,ixel :
 rn (rawbuf);>y_min);
es))))//al_y d se y1; y 
	//sBck(y,0,255,ixel(x
	//sBck-1(y,0,255,ixel(x
	//sBck-2(y,0,255,ixel(x
	//sBck,y-1(0,255,ixel(x
	//sBck,y-2(0,255,ixel :dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = -1)
cnnnera/bt848/BT848.htttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/bra5533ng.py3055711746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank/*
tttttttttttttt/*
  XRCL: TetIExtelble R -1)
ttntrol Language
  (c) 2000,
ttuglas S. B
  Un(versitywof Arkansas, R -1)icis
ttResearch Group
  http://
tt
ttk.edu/xrcl/
es
  This program is free softward; you)can) :dis ribuee
tt
and/or modify
esit
ug)er tetIterms of netIGNU General PublicLicens
tts published by
esnetIFree Softward Foundai(1); einetr verw2 o
ttntILicense, or
es( l your  di(1))
a

ttk.edu/xrcl/
es
 )This program is dis ribueed tr(netIhopoaneat)it wi
ttbe uorful, bu)_))WITHOUT ANY WARRANTY; w   out even netIe
tted warrantywof_))MERCHANTABILITY od FITNESS FOR A PARTICULAR PURP
tt.  See netIGNU_))General PublicLicensen

ttmortIdetails.
_))You)should havenrece(vedna copywof netIGNU Gener
ttPublicLicense_))along w   =this program;)tf)n1), writepno 
tt Free Softward
  Foundai(1), Inc., 59 Temple Place - Suit
tt30,
Bos on,sMA
 

tt11-1307, USA.
_))A sa)special except(1), you)havenpeemiswton
ttk=this program_))w   =the Qtnlibrary ag)
dis ribueenexecutable
, as long as you
eefollow
netIrequirdme  s of netIGNU GPL tr(reg
,  tonninnof net
essoftward tr(netIexecutab
*/

ttttttttttCAed A_H
#ifn_(s __BCAed A_H
#
 up in "Cnner
	bl.h"
 up in "Cnnerfp    .h"
 ide fromnQt
Cnn nes.h"
 ide fromnvice.h"
#t
t up in 
#t
#
 bt848.-1)
cnt
{
: public
, ad *VIDEO_DEV;
esuMETEOk[x]ad * s))) (lf.hPPM* set i,tk=thi;
esch)
, ad *VIDEO_DEV;
{d ();;Ok[x]ad * s))) (lf.hPPM* set i,tnoi;
esch)
, ad *VIDEO_DEV;
tr->;
, ad *VIDEO_DEV;
 + 1]
   (    i n10; i];
, ad *VIDEO_DEV;
*[y] n1tru;
, REGIOtmpmask[xl La];

, REGI (  ,
 
	)) (  ,
 
	))
ep  

, -1)
cntepublic:
esBT848 ()con   chad* do );
, virtuSA.}
es}
}

;
, virtuSA. rn (r::~Cnner {} 

, k[x-1)
cntfn_(s snet
se
,  rn (
}

void;
, ad *VIDEO_DEV;
 had * Cd;
, ad *VIDEO_DEV;
 d chad * C
;
, vrn (
}

void Cnnera::saveFil;
, REGIelf.wig){ {
esGet (   }
, REGIelf.wig)o{ {
esGet (   }
, vrn (
}

void Cnnera::swap_rgb24(; 

, REGIO 3;
es}postal_y d) se y1;
, vrn (rawbuf);
	//sBcal_y d) se yd) se rd) se gd) se b1;
, REGIO 3;
es} elal_y d) se y1;
, REGIO 3;
es}[y] n1al_y d) se y1;
, REGIO 3;
es}, y)+al_y d) se y1 

, k[b_hea)/*
Blob *Cnnera::ApplyFil er(Fil er *fils=se1;
, vrn (
}

void Cn;
, vrn (ronvolve(sh  ))""tr(a[3]t geo(Fil vot1;
, vrn (ronvolve(sh  ))""tr(a1[3]t ge()
  ))""tr(a2[3]t geo(Fil vot1;
, vrn (Sor
  se lit, %d) se bigt;
, vrn (rawbuf);s[i]];

eal_y d se y1;
, vrn (rawbuf);>y_avg);
es))))/al_y d se y1;
, vrn (rawbuf);>y_avn);
es))))//al_y d se y1;
, vrn (rawbuf);>y_min);
es))))/al_y d se y1;
, vrn (rawbuf);>y_min);
es))))//al_y d se y1;


,tecogr
, nera::d[n+1];
es;
, REGIfp;
, ad *VIDEO_DEV;
blob
, virtuSA. rn (ra::Upd 
void BT}b
, virtuSA. rn (;
}

void BT};
, REGIesfwrite(b 

,public
, )
  ))""tr)maskICOLS][IROWS];
, )
  ))""tr
	))maskICOLS][IROWS];

, REGIepp;
} 

had *buffer;CAed A_H
#
 
 
 dblanktttttttttttttttttn = -
Cnn nes.htttttttttttttttttp755ot/bra5171ng.py06341300065010426372772n/156400100644000076400003100000002221410446405477014470 0ustar  dblank/*
tttttttttttttt/*
  XRCL: TetIExtelble R -1)
ttntrol Language
  (c) 2000,
ttuglas S. B
  Un(versitywof Arkansas, R -1)icis
ttResearch Group
  http://
tt
ttk.edu/xrcl/
es
  This program is free softward; you)can) :dis ribuee
tt
and/or modify
esit
ug)er tetIterms of netIGNU General PublicLicens
tts published by
esnetIFree Softward Foundai(1); einetr verw2 o
ttntILicense, or
es( l your  di(1))
a

ttk.edu/xrcl/
es
 )This program is dis ribueed tr(netIhopoaneat)it wi
ttbe uorful, bu)_))WITHOUT ANY WARRANTY; w   out even netIe
tted warrantywof_))MERCHANTABILITY od FITNESS FOR A PARTICULAR PURP
tt.  See netIGNU_))General PublicLicensen

ttmortIdetails.
_))You)should havenrece(vedna copywof netIGNU Gener
ttPublicLicense_))along w   =this program;)tf)n1), writepno 
tt Free Softward
  Foundai(1), Inc., 59 Temple Place - Suit
tt30,
Bos on,sMA
 

tt11-1307, USA.
_))A sa)special except(1), you)havenpeemiswton
ttk=this program_))w   =the Qtnlibrary ag)
dis ribueenexecutable
, as long as you
eefollow
netIrequirdme  s of netIGNU GPL tr(reg
,  tonninnof net
essoftward tr(netIexecutab
*/

ttttttttttCONSTrraS_H__
,ifn_(s __BCONSTrraS_H__

s)))IGNublic:REGI  odTHNAedr->nex+= 255;
s)))IGNublic:REGI  ZERO           {
es
s)))IGNublic:REGI  ONE            {
1s
s)))IGNublic:REGI  NEGONE         fod (

s)))IGNublic:id( PI             {
(id()3.141592653s
s)))IGNublic:id( FZERO          {
(id()0.0;
#
 up Bel ei Pu
es)usu
es)es
s)))IGNublic:REGI  xcDNE          fod (
s)))IGNublic:REGI  xcDORMrra      {
es
s)))IGNublic:REGI  xcACTIVdr->nex+=  (
s)))IGNublic:REGI  xcGOINGDORMrra = 2(
s)))IGNublic:REGI  xcGOINGACTIVdr-p[2]

s)))IGNublic:_g_over  xcREVERSEnex+=   -0.5es
s)))IGNublic:_g_over  xcSTOP        fott3.es
s)))IGNublic:_g_over  xcSLOW        fott3.2(
s)))IGNublic:_g_over  xcMEDIUM      fott3.5;
s)))IGNublic:_g_over  xcILIu)_D     fott3.75;
s)))IGNublic:_g_over  xcIAST        fott1.0;
#
 s)))IGNublic:_g_over  xcck(        fott3.5es
s)))IGNublic:_g_over  xcRIGHT       fot-0.5es
s)))IGNublic:_g_over  xcSTRAIGHT    fott3.es

 upNetworkNublic nes
bleregs n_HOST#_(s
bleregs n_PORT#_(0
#
 bblic:REGIlter->c {
es
bblic:REGIltINTERSECT->c {
1s
bblic:REGIltMIN=es
bblic:REGIlts n= (

leregxcPOINT   0
leregxcWALL    1
leregxcHALLWAY 2
leregxcROOM    3
leregxcDOLITTTT4

leregxcGLOBAL  0
leregxcLOCAL   1

leregxcilter->Typn 0
leregxcilter->Typn  1
leregxcilter->Typn n= xcV 2
leregxcilter->Typ 3
leregxcilter->TypnT4

leregIROWS 80
leregICOLS_(00

leregxc    i n10; i_(0
#
 tttttttt)es))
lereg)es))0
had *b

had *b
 
 dblanktttttttttttttttttn = Make::satttttttttttttttttp755ot/brai444101376252630006ttt0426372772n/156400100644000076400003100000002221410446405477014470 0ustar  dblankOBJS {
"
#t upso sRE in cS \
	-D_REENT))WI -DPOSIX \
	-D__x86__ -D__lnci(__ \
	-D__OSVERS->c__=2 - Thpo -DUSINGTHREADS -DypnUX -D_uir_SOURCE \
	$(PY uoN_INCLUDE)

LIBDIRS= 
LIBS= -lstdc++ -ldL -lpthe) {

"
#t upso:.gz).ovice
{.o
	$(CC) $(CPPFLAGS) -sha+;es.gz).ovice
{.o ../d[n+1]/848_H

o $(LIBDIRS) -o $@ $(LIBS)ize];
e.o:: -1)
cnner ../d[n+1]/848_H

o
	$(CC) $(CPPFLAGS) $(INCLUDE) -o $@ -c -1)
cnnerize];
e.cc: -1)
cni -1)
cnh ../d[n+1]/848_H

o
	swig -py ANn $(INCLUDE) -c++ -o $@ -1)
cni

.gz).o: -1)
cnnc ../d[n+1]/848_H

o
	$(CC) -c $(PY uoN_INCLUDE) $(INCLUDE) -1)
cnnc -o $@l_btean::
	$(RM) *~ -1)
cnnc .gz).ave.gz).nc .gz)XC20 *pso *poif //s__BT848_H



facultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn = .gz)XC20nera/bt848/Cnnera.cppttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/bra221gng.74157060126571746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank up in 
}

void;
cE->
}

void;
cE->
}

void;
cE->
}

void ::saveFil;() s
REGIstr_to_REGnnera::1);
ed) se *464get"er,sbogb2digied)er.ppm"); ( :gn, rite(bu voties=sTRUEd) , japplyrite(b ols   w;
1);
ed;
cEizingr::1);
ef) )
-' T, &icons:gn fod (&iconrite(b -{
1s&icon1);
essssshDGEFILT &icons:gn fo1n");
es)for(*p
  rite(b - n1-i >e }
))-- T, &iconngr:!isdigie(*
1);
e + i.get { voties=sFALSE; obs >)Mal;
	))digie))blob_p 1);
e + i.getsi ')++){
))es( jie)i) {e; ji<
  rite (   .ge	))digi*n f}
	))r-d)er.p+=	))digo1n");
eonng{ voti- T, &ice *464gie))ons:*l 
	to
	))r-{ {
esG0ssssshDGEFI{ {
esGfod el :dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttn eteor.h"
#t utttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/1565171ng.py0634130007371746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankttttttttttttttttttt/*
  XRCL: TetIExtelble R -1) Control Language
  (c) 2000, Douglas S. B
  Un(versitywof Arkansas, R -1)icis# )Research Group
  http://ai.uark.edu/xrcl/
es
  This program is free softward; you)can) :dis ribueenit
and/or modify
esit
ug)er tetIterms of netIGNU General PublicLicensenas published by
esnetIFree Softward Foundai(1); einetr verw2 of netILicense, or
es( l your  di(1))
any lbeer ver.
_))This program is dis ribueed tr(netIhopoaneat)it wiinnbe uorful, bu)_))WITHOUT ANY WARRANTY; w   out even netIeplied warrantywof_))MERCHANTABILITY od FITNESS FOR A PARTICULAR PURPOSE.  See netIGNU_))General PublicLicensenfor mortIdetails.
_))You)should havenrece(vedna copywof netIGNU General PublicLicense_))along w   =this program;)tf)n1), writepno net Free Softward
  Foundai(1), Inc., 59 Temple Place - Suitep330,
Bos on,sMA
  02111-1307, USA.
_))A sa)special except(1), you)havenpeemiswtonlink=this program_))w   =the Qtnlibrary ag)
dis ribueenexecutables, as long as you
eefollow
netIrequirdme  s of netIGNU GPL tr(regard tonninnof net
essoftward tr(netIexecutable asttttttttIOCTLer;
};

__H
#ifn_(s _IOCTLer;
};

__H
ttttttettt/*
)15)IGNennoe*/

#t up con.ueuo Nee)sc nest848/bttttttfs yoencyl(x
st848/
#ifn_(sCHNFALT_NABCST		1/
#ifn_(sCHNFALT_CABLEIRC	2/
#ifn_(sCHNFALT_CABLEHRC	3/
#ifn_(sCHNFALT_WEUROPE		4/
#ifn_(sCHNFALT_JPNBCST		5/
#ifn_(sCHNFALT_MIN		CHNFALT_NABCST/
#ifn_(sCHNFALT_MAX		CHNFALT_JPNBCST
/bttttttkNublic n con.varig)artu co    ms][y]t848/
#ifn_(sr;
};

UEMIN		(-90)/
#ifn_(sr;
};

UEMAX		90/
#ifn_(sr;
};

UECEtINT		0/
#ifn_(sr;
};

UE)_)GE		179.3/
#ifn_(sr;
};

UE)EGMIN		(-128)/
#ifn_(sr;
};

UE)EGMAX		127/
#ifn_(sr;
};

UESTEPS		256
/
#ifn_(sr;
};
BxcRIGMIN		(-50)/
#ifn_(sr;
};
BxcRIGMAX		50/
#ifn_(sr;
};
BxcRIGCEtINT	0/
#ifn_(sr;
};
BxcRIG)_)GE	99.6/
#ifn_(sr;
};
BxcRIG)EGMIN	(-128)/
#ifn_(sr;
};
BxcRIG)EGMAX	127/
#ifn_(sr;
};
BxcRIGSTEPS	256
/
#ifn_(sr;
};
COEENTSGMIN	0/
#ifn_(sr;
};
COEENTSGMAX	237/
#ifn_(sr;
};
COEENTSGCEtINT	ttt/
#ifn_(sr;
};
COEENTSG)_)GE	236.57/
#ifn_(sr;
};
COEENTSG)EGMIN	t/
#ifn_(sr;
};
COEENTSG)EGMAX	511/
#ifn_(sr;
};
COEENTSGSTEPS	512
/
#ifn_(sr;
};
CHROMAMIN		t/
#ifn_(sr;
};
CHROMAMAX		284/
#ifn_(sr;
};
CHROMACEtINT	ttt/
#ifn_(sr;
};
CHROMA)_)GE	283.89/
#ifn_(sr;
};
CHROMA)EGMIN	t/
#ifn_(sr;
};
CHROMA)EGMAX	511/
#ifn_(sr;
};
CHROMASTEPS	512
/
#ifn_(sr;
};
SATUMIN		t/
#ifn_(sr;
};
SATUMAX		202/
#ifn_(sr;
};
SATUCEtINT	ttt/
#ifn_(sr;
};
SATU)_)GE		201.18/
#ifn_(sr;
};
SATU)EGMIN	t/
#ifn_(sr;
};
SATU)EGMAX	511/
#ifn_(sr;
};
SATUSTEPS		512
/
#ifn_(sr;
};
SATVMIN		t/
#ifn_(sr;
};
SATVMAX		284/
#ifn_(sr;
};
SATVCEtINT	ttt/
#ifn_(sr;
};
SATV)_)GE		283.89/
#ifn_(sr;
};
SATV)EGMIN	t/
#ifn_(sr;
};
SATV)EGMAX	511/
#ifn_(sr;
};
SATVSTEPS		512
/bttttttaudio olufft848/
#ifn_(sAUDIO_TUNNT		0x00	/ttkNe.h>d con.ueuoaudio 1)itn_(s48/
#ifn_(sAUDIO_EXINTN		0x01	/ttdo(stdkNufpoa.ueumlink=tbits48/
#ifn_(sAUDIO_ltINTN		0x02	s))exitn_gss48/
#ifn_(sAUDIO_MUTE		0x80/
#ifn_(sAUDIO_UNMUTE		0x81
/bttttttEEPIexeolufft848/
ee    eePIexe{
	, )
 	offexi;
	, )
 	s[howma	u_Gnne	4 ;s/[ 256 ]sigiodbttttttXXX.
es)*
i111-hack,ortIdetabinnofennoe*/

#t upttttardogramaA. rntouchsp  ibueed :: con.now...t848/
#ifn_(	TVTUNNT_ALTCHNF))r-_IOW('x', 32,
, ad *VIDblob	))exit (hannel848/
#ifn_(	TVTUNNT_GLTCHNF))r-_IOR('x', 32,
, ad *VIDblob	))egit (hannel848/
#ifn_(	TVTUNNT_ALTTYPE))r-_IOW('x', 33,
, ad *VIDblob	))exit tu co f(std48/
#ifn_(	TVTUNNT_GLTTYPE))r-_IOR('x', 33,
, ad *VIDblob	))egit tu co f(std48/
#ifn_(	TVTUNNT_GLTSTATUSr-_IOR('x', 34,
, ad *VIDblob	))egit tu co su
es)u48/
#ifn_(	TVTUNNT_ALTFREQ))r-_IOW('x', 35,
, ad *VIDblob	))exit fs yoencyl48/
#ifn_(	TVTUNNT_GLTFREQ))r-_IOR('x', 36,
, ad *VIDblob	))egit fs yoencyl48/
/
#ifn_(sr;
};
S
UE	_IOW('x', 37,Dblob		))exit hue848/
#ifn_(sr;
};
G
UE	_IOR('x', 37,Dblob		))egit hue848/
#ifn_(	r;
};
SBxcR	_IOW('x', 38,Dblob		))exit bmin);ness848/
#ifn_(sr;
};
GBxcR	_IOR('x', 38,Dblob		))egit bmin);ness848/
#ifn_(	r;
};
SCSAT	_IOW('x', 39,Dblob		))exit chIex1-1at848/
#ifn_(sr;
};
GCSAT	_IOR('x', 39,Dblob		))egit UV-1aturihoali48/
#ifn_(	r;
};
SCOEE	_IOW('x', 40,Dblob		))exit cIExtasti48/
#ifn_(	r;
};
GCOEE	_IOR('x', 40,Dblob		))egit cIExtasti48/
#ifn_(	r;
};
SVSAT	_IOW('x', 41,Dblob		))exit chIex1-V-1at848/
#ifn_(sr;
};
GVSAT	_IOR('x', 41,Dblob		))egit V-1aturihoali48/
#ifn_(	r;
};
SUSAT	_IOW('x', 42,Dblob		))exit chIex1-U-1at848/
#ifn_(sr;
};
GUSAT	_IOR('x', 42,Dblob		))egit U-1aturihoali48//
#ifn_(	r;
};
SCBARS	_IOR('x', 43,Dblob		))exit cIlorbari48/
#ifn_(	r;
};
CCBARS	_IOR('x', 44,Dblob		))el_btr cIlorbari48//
#ifn_(	r;
};
SAUDIO	_IOW('x', 46,Dblob		))exit audio (hannel848/
#ifn_(sr;
};
GAUDIO	_IOR('x', 47,Dblob		))egit audio (hannel848/
#ifn_(	r;
};
SBTSC	_IOW('x', 48,Dblob		))exit audio (hannel848//
#ifn_(	r;
};
GSTATUS	_IOR('x', 49,
, ad *VIDblob	))ereap su
es)u48//
#ifn_(	r;
};
WEEPROM	_IOWR('x', 5"); ee    eePIexb	))es programEEPIexe48/
#ifn_(	r;
};
REEPROM	_IOWR('x', 51); ee    eePIexb	))ethe)etIexeEEPIexe48//
#ifn_(	r;
};
SIGNATU)E	_IOWR('x', 52); ee    eePIexb	))ethe)ec neconse48//
#ifn_(	TVTUNNT_ALTAFC	_IOW('x', 53,Dblob		))e{
esGAFC on/off848/
#ifn_(sTVTUNNT_GLTAFC	_IOR('x', 54,Dblob		))eyoeryGAFC on/off848/
#ifn_(sr;
};
SLNOTCH	_IOW('x', 55,Dblob		))exit lux1-notch848/
#ifn_(sr;
};
GLNOTCH	_IOR('x', 56,Dblob		))egit lux1-notch848/bttttttXXX.
Publibe)emagic,tttttttttwe neeetIGNfix.ueuo 0) {
Gs))p  IGN{ {
esGso/

hsp  
,publtttttttttdupublata.ueumlardogcon.now...t848/
#ifn_(	#elor
erol 		0x000tttt0/
#ifn_(	#elor
erol1		0x000t2tt0/
#ifn_(	#elor
erol2		0x000t4tt0/bttttttmin);.now Itdo(stdknow wrdogram
e +snet
t)it xecusney nninsupposogrambetttta partPL tatkNe.aliC200 BNap{
eek[x][yfan+1]snet
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exxxcntfn_(s neeetIGNbettttr:savedw   =moveetIGNatkNe.alioi;
est848/bf(stttttenuxe{r#elor
ePIXTYPE_RGB,r#elor
ePIXTYPE_YUV,eltar->ne#elor
ePIXTYPE_YUV_PACKEDsssh#elor
ePIXTYPEiod
ee    icontropixfmte{
	u_c:REGIIIIIIIIindex;GIIIIIIII))eIndexnnofsupportaetpixfmtelisREGIII48/	#elor
ePIXTYPE f(st;GIIIIIIIII))eWbue's.ueuo o necgonna feeets)uGIII48/	u_c:REGIIIIIIIIBpp;GIIIIIIIIII))eB ;s/excetpixel8888888888888888888848/	u_eenexxxxxxxxx	))ms[3];IIIIII))eR,G,Bf_))Y,U,Vx	))ms,tr:1307tively848/	u ad *VIDDDDDDD (
}
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 s8 (
}p out))ee  eenes8888888848/giodb
ee    bktr_clipn10; i < c8888888888ftcor;0; i < c8888888888ftcax;0; i < c8888888888ytcor;0; i < c8888888888ytcax;0};
/
#ifn_(sr;
};
s CLIP_NODELS_(b
ee    _bktr_clipn10; i 
ee    bktr_clipnx[r;
};
s CLIP_NODE]sigiodttttttI'mts)sp  #elor
exxxcjusREbecapoa.uea tr(netIhokNe.aliIGNotard [x][yfan+ttttand less8L tatsurpriener48/
#ifn_(s#elor
SACTPIXFMT	_IOW('x', 64,Dblo )/
#ifn_(s#elor
GACTPIXFMT	_IOR('x', 64,Dblo )/
#ifn_(s#elor
GSUPPIXFMT	_IOWR('x', 65, 
ee    icontropixfmt)odttexit clipnlisRE48/
#ifn_(sr;
};SCLIP88888_IOW('x', 66, 
ee    _bktr_clipn)/
#ifn_(sr;
};GCLIP88888_IOR('x', 66, 
ee    _bktr_clipn)//
#ifn_(sr;
};
INITPXC2tt88_IOW('x', 67,Dblobod chad *b*s _IOCTLer;
};

__E48/tttttttttttttttttttn eteor./

#t uptttttttttttttttttttp755ot/2504571ng.py0634130721371746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankttttttttttttttttttt/*
  XRCL: TetIExtelble R -1) Control Language
  (c) 2000, Douglas S. B
  Un(versitywof Arkansas, R -1)icis# )Research Group
  http://ai.uark.edu/xrcl/
es
  This program is free softward; you)can) :dis ribueenit
and/or modify
esit
ug)er tetIterms of netIGNU General PublicLicensenas published by
esnetIFree Softward Foundai(1); einetr verw2 of netILicense, or
es( l your  di(1))
any lbeer ver.
_))This program is dis ribueed tr(netIhopoaneat)it wiinnbe uorful, bu)_))WITHOUT ANY WARRANTY; w   out even netIeplied warrantywof_))MERCHANTABILITY od FITNESS FOR A PARTICULAR PURPOSE.  See netIGNU_))General PublicLicensenfor mortIdetails.
_))You)should havenrece(vedna copywof netIGNU General PublicLicense_))along w   =this program;)tf)n1), writepno net Free Softward
  Foundai(1), Inc., 59 Temple Place - Suitep330,
Bos on,sMA
  02111-1307, USA.
_))A sa)special except(1), you)havenpeemiswtonlink=this program_))w   =the Qtnlibrary ag)
dis ribueenexecutables, as long as you
eefollow
netIrequirdme  s of netIGNU GPL tr(regard tonninnof net
essoftward tr(netIexecutable ttttttCd hmin);.Cont1995 M is Tsp uely8   =Jim Low+ttttA GPmin);str:1eru)s.t84ttttRsoftward; ), y   =poa.e  ,LicInc   =bin_))wM* ss i,tk=tal HOUT ANtttts ribblatA sa)nninxceptttaetproC200dribuee net, as lsp  cohadtA ssttttanin/

:tttt1.tRsoftward; ), low
n,LicIncco(nemusRErLicof netaboveuld hmin);tttttttntywo+1]snemilisREw
ncohadtA ssc   = net, as lsp  oftclaittt.t84 2.tRsoftward; ), locofbin_))wM* semusRErproducef netaboveuld hmin);tttttttntywo+1]snemilisREw
ncohadtA ssc   = net, as lsp  oftclaitttnnof netttttttdocuefola ), y    :diotard m you, UstproC200drink=this oftward; ), .t84 3.tA GPad  dti)sp  m you, Ustefol), sp  featurs/e:dipoa.L tr(emiswritepno tttttmusREoftp, y= net, as lsp  acknowledgeefol:ttt	 lbeer vd     in TypttttHOWcREV CAUSEDffuDrONLIul,THEORY OFpLIABntywo, WHETHERAINrCOEENTCT,ttttSTRICTpLIABntywo,  R TORTt(w(INCLINGI  NLIGENCE  R OTHERWISE) buIDUSIAINttttAul, bY OUT OFpTHE USE OFpTHIS SOFT buE, EVEN IF ADVISEDfOFpTHEttttOR SIantywofOFpSUCH DA  i .t848/ttttttM ribb)sh7/22/98eral kNepa )bil S. ink=tggrac baoaetL_lnc systems.t84 M is Sutce  t848/ttttt	eteortkNublic n con.Maxtex M

#t  Cap{
eekc ne.t848/ astttttttMACHUSH_IOCTLe#elor
eHH
#ifn_(s MACHUSH_IOCTLe#elor
eHHs
bleregs NUM_FRAMES 256 ttextIdetabinetIrso(doas /

#t up 48/ as up in <__lnc eteorde u
ee    icontrocapfro(do{
	, )
 	s[e.h>d;	))exieabis locon.vavoti#elor
CAPFRMtkNe.h>d)u48/	, )
 	s lat;		))extartPtwnsfttnnf er(eminumberu48/} ;odttexee   udogcon.#elor
[GS]ETGEOc.,get/xit geo/

))w848/
ee    icontrogeo/

e{
	u_, )
 		 n (  	u_, )
 		column(  	u_, )
 		fro(d(  	u_eene		oM* set;/} ;odttexee   udogcon.#elor
GCOUNT-git cI
es)w
nfro(d(il efGNc)fp sc   =dmaNc)fp sc48/
ee    icontrocI
esse{
	u_eenex efG_c)fp s;	/ttkN
es)w
nfefGNc)fp sc)spcefopn848/	u_eenexdma_c)fp s;	/ttkN
es)w
ndmaNc)fp sc)spcefopn848/	u_eenexfro(d(_Nap{
eed;	/ttkN
es)w
nfro(d(BNap{
eedc)spcefopn848/	u_eenex WAR_bb)ld(_Nap{
eed; /ttkN
es)w
n WARRbb)ld(BNap{
eedc48/	u_eenexodd_bb)ld(_Nap{
eed; /ttkN
es)w
noddRbb)ld(BNap{
eedc48/} ;odttexee   udogIGNgit tnet,ro(dow
fexilocofmePubyc48/
ee    icontro,ro(d_w
fexin10; u_eenexfro(d_w
fexi[s NUM_FRAMES55]esu_eenexfb_))
ep]esu_eenexmeP_w
f;/} ;odttexee   udogcon.gxitn_gc   =exitn_gEof_))tPtwnsftt5)IGNvr48/
ee    icontroC200 B{
	u_eene	addr;	/ttAddress8L tlolat), you)dmaNou)48/	u_eene	GIelf;	/ttWIelf8L tmePubyc;
tr)48/	u_eene	bank))
ep	/ttS)
e8L tVrbank)48/	u_eene	r))
ep	/ttS)
e8L tVr48/giodb
#ifn_(s#elor
CAPTUR8_IOW('x', 1,Dblob			 /ttkap{
eekat,ro(do48/
#ifn_(s#elor
CAPFRMt_IOW('x', 2, 
ee    icontrocapfro(d)II))esynctkap{
eek48/
#ifn_(s#elor
SETGEOc_IOW('x', 3, 
ee    icontrogeo/

)II))esit geo/

))w48/
#ifn_(s#elor
GETGEOc_IOR('x', 4, 
ee    icontrogeo/

)II))egit geo/

))w48/
#ifn_(s#elor
STATUSr_IOR('x', 5,
, ad *VID, )
 b	))egit su
es)u48/
#ifn_(s#elor
SHTRUEn_IOW('x', 6); ( :VIDEO_Db		))exit hue848/
#ifn_(s#elor
GHTRUEn_IOR('x', 6); ( :VIDEO_Db		))egit hue848/
#ifn_(s#elor
SFMTUEn_IOW('x', 7,
, ad *VIDeeneb	))exit f* set848/
#ifn_(s#elor
GFMTUEn_IOR('x', 7,
, ad *VIDeeneb	))egit f* set848/
#ifn_(s#elor
Ss))p  _IOW('x', 8,
, ad *VIDeeneb	))exit );
e +) d848/
#ifn_(s#elor
Gs))p  _IOR('x', 8,
, ad *VIDeeneb	))egit );
e +) d848/
#ifn_(	#elor
SCHCVEn_IOW('x', 9,
, ad *VIDEO_Db	))exit uv gicof48/
#ifn_(	#elor
GCHCVEn_IOR('x', 9,
, ad *VIDEO_Db	))egit uv gicof48/
#ifn_(	#elor
SCOUNTn_IOW('x',10, 
ee    icontrocI
ess)/
#ifn_(	#elor
GCOUNTn_IOR('x',10, 
ee    icontrocI
ess)/
#ifn_(s#elor
SFPSUEn_IOW('x',11,
, ad *VID, )
 b	))exit fp)u48/
#ifn_(s#elor
GFPSUEn_IOR('x',11,
, ad *VID, )
 b	))egit fp)u48/
#ifn_(s#elor
SSIGNAL8_IOW('x', 12,
, ad *VIDblob	))exit ad *alu48/
#ifn_(s#elor
GSIGNAL8_IOR('x', 12,
, ad *VIDblob	))egit ad *alu48/
#ifn_(	#elor
SVIDEOc_IOW('x', 13, 
ee    icontroC200 b	))exit C200 B48/
#ifn_(	#elor
GVIDEOc_IOR('x', 13, 
ee    icontroC200 b	))egit C200 B48/
#ifn_(	#elor
SBxcREn_IOW('x', 14,
, ad *VIDEO_Db	))exit bmin);ness848/
#ifn_(s#elor
GBxcREn_IOR('x', 14,
, ad *VIDEO_Db	))egit bmin);ness848/
#ifn_(	#elor
SCSATEn_IOW('x', 15,
, ad *VIDEO_Db	))exit chIex1-1at848/
#ifn_(s#elor
GCSATEn_IOR('x', 15,
, ad *VIDEO_Db	))egit uv 1aturihoali48/
#ifn_(	#elor
SCONTEn_IOW('x', 16,
, ad *VIDEO_Db	))exit cIExtasti48/
#ifn_(	#elor
GCONTEn_IOR('x', 16,
, ad *VIDEO_Db	))egit cIExtasti48/
#ifn_(s#elor
SBT254n_IOW('x', 17,
, ad *VID, )
 b	))exit Bt254nreg848/
#ifn_(s#elor
GBT254n_IOR('x', 17,
, ad *VID, )
 b	))egit Bt254nreg848/
#ifn_(s#elor
SHWSUEn_IOW('x', 18,
, ad *VIDEO_Db	))exit T d xtartPreg848/
#ifn_(s#elor
GHWSUEn_IOR('x', 18,
, ad *VIDEO_Db	))egit T d xtartPreg848/
#ifn_(s#elor
SVWSUEn_IOW('x', 19,
, ad *VIDEO_Db	))exit   dt xtartPreg848/
#ifn_(s#elor
GVWSUEn_IOR('x', 19,
, ad *VIDEO_Db	))egit   dt xtartPreg848/
#ifn_(	#elor
STS8888_IOW('x', 20,
, ad *VIDeeneb	))exit ti(doxtampi48/
#ifn_(	#elor
GTS8888_IOR('x', 20,
, ad *VIDeeneb	))egit ti(doxtampi48/
#ifn_(	#elor
GFROFF8_IOR('x', 21, 
ee    icontro,ro(d_w
fexin)I))egit ,ro(dow
fexilo48/
#ifn_(	#elor
GCAPT88_IOR('x', 22,
, ad *VIDeenebIIIIIII))egit aaa7116tkap{_eort(0x40)    ms][ye48//
#ifn_(	#elor
eSTATUS_ID MASK	0xf000	/ttID8L t7196848/
#ifn_(	#elor
eSTATUS_DIR	0x0800	/ttDf_))toaliL tExpa/*
)1 port YUV848/
#ifn_(	#elor
eSTATUS_OEF	0x0200	/ttFb)ldicLtecog EWAR/Odd848/
#ifn_(	#elor
eSTATUS_SVP	0x0100	/ttsu
es8L tVRAM Port:ina7tive/a7tive848/
#ifn_(	#elor
eSTATUS_STTC	0x0080	/ttTi(do= -
Cnn : TV/VCR848/
#ifn_(	#elor
eSTATUS_HCLK	0x0040	/ttHoriz PLL:tlolked/unlolked848/
#ifn_(	#elor
eSTATUS_FIDT	0x0020	/ttFb)ldicLte: 50/60hz848/
#ifn_(	#elor
eSTATUS_ALTD	0x0002	s))Ln_(sale: nu)hav(sale/hav(sale848/
#ifn_(s#elor
eSTATUS_CODE	0x0001	/ttColLiceinfo: nu)colLic/colLice48//				/tt#elor
CAPTUR8kap{
eeknse, os848/
#ifn_(s#elor
_CAP_DUSILE	0x0001	/ttkap{
eeknnet,ro(do48/
#ifn_(s#elor
_CAP_CONTINOUS	0x0002	s))cIExinuouslytkap{
eek48/
#ifn_(s#elor
_CAP_DTOP_CONT	0x0004	))extopPthe)cIExinuoustkap{
eek48/
#ifn_(s#elor
_CAP_CONT_ONCE	0x0008	/ttkap{
eekU GPU Golataetfro(d(Bopce48//				/tt#elor
CAPFRMtkap{
eekcNe.h>d)u48/
#ifn_(s#elor
_CAP_N_FRAMES	0x0001	/ttkap{
eekNtfro(d(B48/
#ifn_(s#elor
_CAP_DTOP_FRAMES	0x0002	))extopPkap{
eekNtfro(d(B48/
#ifn_(	#elor
eHALT_N_FRAMES	0x0003	))ehale8w
ncap{
eekNtfro(d(B48/
#ifn_(s#elor
_CONT_N_FRAMES	0x0004	s))cIExinuekUf][yeaboveuhale848//				/ttvavotiC200 B);
e +f* sets: B48/
#ifn_(s#elor
_FMT_NTSC		0x00100	/ttNTSC -- n (;
iavozedicfaule848/
#ifn_(s#elor
eFMT_PAL		0x00200	/ttPAL848/
#ifn_(s#elor
eFMT_SECAM	0x00400	/ttsECAM848/
#ifn_(s#elor
eFMT_AUTOMODE	0x00800I))eauto-mo(ne48/
#ifn_(s#elor
es))p erol 	0x01000	/ttkx-1)
c);
e +0 -- cfaule848/
#ifn_(s#elor
es))p erol_
CA	#elor
es))p erol /
#ifn_(s#elor
es))p erol1	0x02000	/ttkx-1)
c);
e +1848/
#ifn_(s#elor
es))p erol2	0x04000	/ttkx-1)
c);
e +2848/
#ifn_(s#elor
es))p erol3	0x08000	/ttkx-1)
c);
e +3848/
#ifn_(s#elor
es))p erol_
GB	0x0a000	/ttcon. (lfFoundai(L tme
#t  48/
#ifn_(s#elor
es))p erol_SVIDEO	0x06000I))eS-C200 B);
e +port 48//				/ttvavotiC200 Bout
e +f* sets: B48/
#ifn_(s#elor
_GEO_
GB16	0x0010000I))epalked8--  (;
iavozedicfaule848/
#ifn_(s#elor
eGEO_
GB24	0x0020000I))eRBG 24tbitsepalked848/					II))e[x][y*allyt + 1rogram32tbitse48/
#ifn_(s#elor
eGEO_YUV_PACKED	0x0040000I))e4-2-2 YUV816tbitsepalked848/
#ifn_(s#elor
eGEO_YUV_PLANAR	0x0080000I))e4-2-2 YUV816tbitseplana  48/
#ifn_(s#elor
eGEO_YUV_PLANER	#elor
eGEO_YUV_PLANAR/
#ifn_(s#elor
eGEO_UNSIGNED	0x0400000I))e, ad *VIDuv out
e se48/
#ifn_(s#elor
eGEO_EVEN_ONLY	0x1000000I))exit f* n WARRonlytbb)ldtkap{
eek48/
#ifn_(s#elor
_GEO_ODD_ONLY	0x2000000I))exit f* noddRonlytbb)ldtkap{
eek48/
#ifn_(s#elor
_GEO_FIELD MASK	0x3000000/
#ifn_(s#elor
eGEO_YUV_422	0x4000000I))e4-2-2 YUV8ramY-U-VkcNebined848/
#ifn_(s#elor
eGEO_OUT)p eMASK	0x40f0000/
#ifn_(s#elor
eGEO_YUV_12	0x10000000	/ttYUV812 f* set848/
#ifn_(s#elor
eGEO_YUV_9	0x40000000	/ttYUV89 f* set848//
#ifn_(s#elor
eFIELD MODELLLLLLL0x80000000//
#ifn_(s#elor
eSIG MODEeMASKLLLL0xffff0000/
#ifn_(s#elor
eSIG FRAME LLLLLLL0x00000000I))exd *alu WA))wMro(do48/
#ifn_(s#elor
_SIG FIELD LLLLLLL0x00010000I))exd *alu WA))wMb)ldt48//
/ttcoas lsp  xee   udogisopoaetIGNcoordinatinetIrsynchIenos)u48/ltar/
ee    icontromexe{
		/ttk[y*elis progonlytu48/l[x]	fro(d_))
ep	 /ttrow*column(*depth848/	u ad *VIDnum_bufsp	 /ttnumberuw
nfro(d(Bcofbuffttn(1-32)848/	u_eenexxfro(d(_Nap{
eed; /ttd)er.pfro(d(BNap{
eedc48/l[x]LLLLLcuro,ro(d;IIIIIII))eindex(L tmosRErce/al_cquisihoali48/l[x]LLLLLcuro,b)ld;IIIIIII))e0= WAR, 1=odd848/		))e,s[yeandtk[y*eli(hange]snet
o48/l[x]	s lat;		 /ttk[y*elixtartstkap{
eeknf er(eminumber.
				II  hilatgca_numbufs848/	u ad *VIDa7tivep	 /ttbits	))m8L ta7tive8Mro(dobufftts
				II  k[y*elixxil,e,s[yel_btrsu48/	[x]	num_a7tive_bufsp /ttkN
es)w
na7tive8Mro(dobufftt
				II  k[y*eliinc
eefoll,e,s[yedec
eefoll848/		))erefttepcefIGNe.h}p ou* s))48/	caddr_t	d ()		 /ttTg as r.psp Inc(, virtuSaddr)c48/} ;od chad *b*sstttttttMACHUSH_IOCTLe#elor
eHt48//  dblanktttttttttttttttttttn @ -1)
ctttttttttttttttttttp755ot/b10110270502652630526571746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank%mo(uluo Nee)
%{up in 
}

vself):0; i; i"""0; iiiiSspcef* s))i11e.h}aetIGNetIrkap{
eekc ne,kU GPwecial eou)do)i11cU G0; iiiirefresh.0; i; i"""0; iiiid *ntytself.a7tive:N{ {
es0; iiiitry:
         self._./d.u>
}

MMapwi0; iiii   self.processAll()
      A.
_)):
         s)tro "ttttn: u>
}

MMapwi fa
vod"//  dblankttttttttttttttt./d[n+1  dblank0040tttttttttttttttp755ot/b1042637270604740 5  dblank10446405477014470 0ustar  dblankttttttttttttttt./d[n+1]/848_H0nera/bt848/Cnnera.cppttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/br567104263727060665471746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankp in c {
 d><], pte
 d++)
    //exit w
fexilos)f)RGB	))r-{gb[d])=  (l_order[d]il;()PyObj))tP*]/848_::sb;
iavoze(, REGI,
, REGI,
, REde yd) se rd) se gd) se t"er,GIelf =iwi;;
emIelf. =ihep]es*/plf =idep]essbt. (l_order[sDEPTH])= {e re gb};;
es)f))blo d>c {
 d><], pte
 d++)
    //exit w
fexilos)f)RGB	))r-{gb[d])=  (l_order[d]il t[x]ad F  ) , ad *VIDEO_DE[GIelf *emIelf. *], pte]il tmePexi([x]ad y0, GIelf *emIelf. *], pteo
	)){ {
esGPyInt_FIexLong(0LFil;(), ad *VIDEO_DE]/848_::getB ;s)blo posihoal t"er,{ {
esG[x]ad[posihoal]d el :dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt./d[n+1]/848_Hs.htttttttttttttttttp755ot/br176104263727060631571746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankasttttttttDEVICE

__EH
#ifn_(s tDEVICE

__EH as up in cS \
	-D_REENT))WI -DPOSIX \
	-D__x86__ -D__lnci(__ \
	-D__OSVERS->c__=2 - Thpo -DUSINGTHREADS -DypnUX -D_uir_SOURCE \
	$(PY uoN_INCLUDS) -sha+$@l_btean::
	$(RM) *0 *pso *poif //s__BT848_H



faculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttv4l1  dblank0040tttttttttttttttp755ot/b10564221501304173715  dblank10446405477014470 0ustar  dblanktttttttttttttttv4l1= Make::satttttttttttttttttp755ot/br35744101376252630564771746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank
OBJS _v4l upso sRE in cS \
	-D_REENT))WI -DPOSIX \
	-D__x86__ -D__lnci(__ \
	-D__OSVERS->c__=2 - Thpo -DUSINGTHREADS -DypnUX -D_uir_SOURCE \
	$(PY uoN_INCLUDE)

LIBDIRS= 
LIBS= -lstdc++ -ldL -lpthe) {
v4l up: v4l o V4L
{.o
	$(CC) $(CPPFLAGS) -sha+;v4l o V4L
{.o ../d[n+1]/848_H

o $(LIBDIRS) -o $@ $(LIBS)V4L
{:: V4L
cnner ../d[n+1]/848_H

o
	$(CC) $(CPPFLAGS) $(INCLUDE) -o $@ -V4L
cnnS)V4L
e.ccV4L
icV4L
cnh ../d[n+1]/848_H

o
	swig -py ANn $(INCLUDE) -c++ -o $V4L
i

v4l o: V4L
cnnc ../d[n+1]/848_H

o
	$(CC) -c $(PY uoN_INCLUDE) $(INCLUDEV4L
cnnc -o $@l_btean::
	$(RM) *0 *pso *;v4l pyEV4L
cnnpoif //s__BT848_H



faculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttv4l1V4L
cnntttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttp755ot/b7405104263727060532571746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankp in c {

0; sns)trol)) d[n+1]255,D./d[n+_mcan p]esGIelf =iwi;;
emIelf. =ihep]es*/plf =idep]es(hannel8=s(h

0; fs)trol)-lser , "V4L kNuble   or '%s' (%d x %d) x %ds(h8=s", %Fi/lta) d[n+1]GIelf,EGIelf.5], pte,s(hannel  ja#ifttttVIDIOCGCAP0; s)
e>c GIelf *emIelf. *], pte;/
chad l t[x]ad F  ) , ad *VIDEO_DE[s)
e]il t[nit(Fil;()V4L::~V4L ()
T, ittlete []t[x]adil;()PyObj))tP*V4L:: u>
}

MMapw )
T, is)f));;- T, &icon (-1-i >eteor(z)XC_fd,VIDIOCMCAPTURE,&z)XC_map)- T, ⁣ fs)trol)-lser ,"E)fp : eteortkmkap{
ee"METEORS excefp ("eteortVIDIOCMCAPTURE"METEORSshDGEFILT &icicon (-1-i >eteor(z)XC_fd,VIDIOCSYNC,&z)XC_map)- T,	fs)trol)-lser ,"E)fp : VivioCsync"MET	xcefp ("eteortVIDIOCSYNC"METEORS eshDGEFILT	// (
}
rgb24(EGnnera)[x]ad z)XC_map.GIelf*z)XC_map.mIelf.MET	GIelf  Fz)XC_map.GIelfET	mIelf. =iz)XC_map.mIelf.ET	{ {
esGPyInt_FIexLong(0LFilEORS es
RS es
RS esleepiotl 
    //es)fce)cIExext.)witch8ramaA. rngiabt.)ucksp  xt Fr
    //ees)*
i111-millisec
 es
;()//eTwo icohods: v4lw2 v4l2ja#ifttttDUMMY_VIDIOC_QUERYCAP0)A. rnV4L::[nit(A. r- T, &fs)trol)-lser ,"Init-sp  V200 
and/orQoerykap-V4L2 %F p]essn (-1-i >(z)XC_fd =iopn)) d[n+1O_RDWR))- T, &icfs)trol)-lser ,"E)fp iopnsp  C200 B) d[n+"METEORSxcefp () d[n+METEORSexit(1)o1n");
eon (-1-i >eteor(z)XC_fd,VIDIOC_QUERYCAP,&z)XC_cap)- T, &icfs)trol)-lser ,"wrenexd d[n+ %F p]esRSexit(1)o1n");
eon (-1-i >eteor(z)XC_fd,tVIDIOC_GeFMT, &z)XC_pix)- T, &icfs)trol)-lser ,"E)fp : eteort1"METEORSxcefp ("eteortVIDIOC_GeFMTF p]esRSexit(1)o1n");
ez)XC_pix.pixelf* set8=sV4L2ePIXeFMT_BGR24;;
ez)XC_pix.*/plf  =idepth84 8;;
ez)XC_pix.GIelf  Fcols;;
ez)XC_pix.mIelf. =i n (  
eon (-1-i >eteor(z)XC_fd,tVIDIOC_SeFMT, &z)XC_pix)- T, &icfs)trol)-lser ,"E)fp : eteort2"METEORSxcefp ("eteortVIDIOC_SeFMTF p]esRSexit(1)o1n");
ez)XC_s)
e>c z)XC_pix.GIelf *ez)XC_pix.mIelf. * ((z)XC_pix.*/plf+7)/8)o1n"fs)trol)-lser ,"z)XCbe : s)sp  %dx%dx%d => %ds4 ;s %Fi/ltaz)XC_pix.GIelf,z)XC_pix.mIelf.,z)XC_pix.*/plf,z)XC_s)
e p]essn (NULLs== ([x]ad FmU Gol(z)XC_s)
e )- T, &icfs)trol)-lser ," ANYof , virtuSmePuby %F p]esRSexit(1)o1n");
efs)trol)-lser ,"DnnetInit V200 
and/orQoerykap-V4L2 %F p]}
/
chad l/
/tt----------------------------------------------------------------------848/ttrkap{
eekoluff  -  ol+;v4l (bttvbIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII48/ astttttVIDIOCGCAP0)A. rnV4L::[nit(A. r- T, &fs)trol)-lser ,"Initiavozsp  V200 4L_lnc %s..",D./d[n+ p]essn (-1-i >(z)XC_fd =iopn)) d[n+1O_RDWR))- T, &icfs)trol)-lser ,"E)fp :iopnsp  C200 B) d[n+"METEORSxcefp () d[n+METEORSexit(1)o1n");
eon (-1-i >eteor(z)XC_fd,VIDIOCGCAP,&z)XC_cap)- T, &icfs)trol)-lser ,"wrenexd d[n+ %F p]esRSexit(1)o1n");
e
II))esit [x]ad ,LicInc   =TV n* se*/;
ez)XC_(han.(hannel8=s(hannel  
eon (-1-i >eteor(z)XC_fd,VIDIOCGCHAN,&z)XC_chan)- T, &icfs)trol)-lser ,"E)fp :iink=tV200 (hannel"METEORSxcefp ("eteortVIDIOCGCHANF p]esRSexit(1)o1n");
ez)XC_(han.(hannel8=s(hannel esRS;
ez)XC_(han.n* se   FGRAB_NORM  
eon (-1-i >eteor(z)XC_fd,VIDIOCSCHAN,&z)XC_chan)- T, &icfs)trol)-lser ,"E)fp :iv200 (hannelt2"METEORSxcefp ("eteortVIDIOCSCHANF p]esRSexit(1)o1n");
e;
ez)XC_map.f* set8=sVIDEO_PALETTE_
GB24;;
ez)XC_map.fro(do>c {

 Fz)XC_map.GIelf >c GIelf

 Fz)XC_map.mIelf. =iheelf.;lessn (-1-= >eteor(z)XC_fd,tVIDIOCGMBUF, &z)XC_d ()- T, &icxcefp ("eteortVIDIOCGMBUF")o1n");
ez)XC_s)
e>c z)XC_d (.))
ep l t[x]ad F(, ad *VIDEO_DE*)e.h}(NULL, 
				z)XC_s)
e, 
				PROT_THRE | PROT_WRITE, 
				MAP_DHARED, 
				z)XC_fd,t
				0tl 
  sn ()blo)[x]ad = -1- T, &icfs)trol)-lser ,"E)fp i"METEORSxcefp ("e.h}F p]esRSexit(1)o1n");
efs)trol)-lser ,"..Dnne %F p]}
/A. rnV4L:: (
}
rgb24(EO_DE*meP yd) sl t"er,EO_DE c;er,EO_DE*p Fmem
]essbt.ess F ;;
e;
ewh
vos(--i- T, &icc Fp[0];Fp[0] Fp[2];Fp[2] FcETEORSx += 3;
 es
;() chad *oif //s__BT848_H



faculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttv4l1V4L
s.htttttttttttttttttp755ot/b2657104263727060477671746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankasttttttttV4LeHH
#ifn_(s tV4LeHHup in de up in 	/ttkhange]sniloIGN"v200 ./d2Hh"ocon.v4l2o48/
 in 
}

MMapwA. r-;;
eA. rn[nit(A. r-;;
eA. rn (
}
rgb24(EO_DE*meP yd) sl l 

II))
II)/astttttVIDIOC_QUERYCAP0)i 
ee    v4l2_capabil S.  
ez)XC_(ap;)i 
ee    v4l2_f* set88888888z)XC_pix
]essbt.esssssssssssssssssssssz)XC_fd,tz)XC_s)
e;
II)/, ad *VIDEO_DEIIIIIIIIIII4z)XC_* s);odt/
chad l48/ astttttVIDIOCGCAP0)i 
ee    v200 _capabil S.  
z)XC_(ap;)i 
ee    v200 _e.h}sssssssssz)XC_map;)i 
ee    v200 _ed ( ssssssssz)XC_d ())i 
ee    v200 _channel	  
ez)XC_(han
]essbt.esssssssssssssssssssssz)XC_fd,tz)XC_s)
e;
II)/, ad *VIDEO_DEIIIIIIIIIII4z)XC_* s);od
chad l/r,EO_DE./d[n+[255]
]essbt.(hannel  0};
/
chad  //e tV4LeHHtttttttttttttttv4l1V4L
ctttttttttttttttttttp755ot/b10110270502652630474771746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank%mo(uluov4l
%{up in 
}

vself):0; i; i"""0; iiiiSspcef* s))i11e.h}aetIGNetIrkap{
eekc ne,kU GPwecial eou)do)i11cU G0; iiiirefresh.0; i; i"""0; iiiid *ntytself.a7tive:N{ {
es0; iiiitry:
         self._./d.u>
}

MMapwi0; iiii   self.processAll()
      A.
_)):
         s)tro "v4l: u>
}

MMapwi fa
vod"//  dblanktttttttttttttttv4l1z)XCIx]ad.ctttttttttttttttttp755ot/b75p7577421724p751622571746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankas up in * s), [x]ad->s)
e p]l ttuplen=cPy_BuildValue("iiiO", [x]ad->s)
e, [x]ad->epp,
,x]ad->Gandle,fbufftt p]l tfree([x]ad p]l t{ {
esGtuple

;()//FreefueuobuffttngiWARRbyNg)XC_[x]ad
//Expe  s free_[x]ad(Gandle,fbufftt 
//Rs{
ess 0tcon.success
su
eic PyObj))tP*free_[x]ad(PyObj))tP*self,EPyObj))tP*args)"er,PyObj))tP*obj,P*bufftt;lessbt., v  
e
ee    [x]ad_(apE*[x]ad_
ee   

0; //Git tnetbuffttnobj))tPtIexer(e arguefolslessn (!PyArg_ParseTuple(args, "iO", &) d, &obj))T, &icPyE)f_SetSl)trg(PyExc_T(stE)fp , "InvavotiarguefolsgIGNfree_[x]adF p]esRS{ {
esGNULL;
 es
l t/../Mansueekit'84atvavotibuffttnobj))tlessn (!PyBufftt_Check(obj))T, &icPyE)f_SetSl)trg(PyExc_T(stE)fp , "Invavotiarguefol:*ntytacPyBuffttF p]esRS{ {
esGNULL;
 es
l t/.Con  dt r(e obj))tPramaibuffttnobj))tlesbuffttn=cPyBufftt_FIexObj))t(obj,P0,EPy_END_OF_BUFFER)

0; //Ts)*
xtIdetn'REbe anNc)fp id *t(e obj))tPpbt811tnetpr/d[oustkhecklessn (bufftt->ob_f(st->tp_as_bufftt->bf_gitthe)buffttn== NULL)T, &icPyE)f_SetSl)trg(PyExc_T(stE)fp , "Invavotiarguefol:*ntytacthe)ablesPyBuffttF p]esRS{ {
esGNULL;
 es
l t/.Cs rt/ anN[x]ad_(apExee   udol t[x]ad_
ee    FmU Gol(s)
eol)-le    [x]ad_(ap))

0; //Ts)*
cU G 
e seetIrs)
e8L tPyBufftt obj))tPsbtot[x]ad_
ee   .))
e0; //   =exis.ueuo[x]ad_
ee   ->* s) po[x][ytIGNetIrbeginnsp  w
netI0; //PyBufftt'84bufftt
 o[x]ad_
ee   ->s)
e>c )blo)(bufftt->ob_f(st->tp_as_bufftt->bf_gitthe)bufftt)\
                           (bufftt, 0,E&([x]ad_
ee   ->* s)));
 o[x]ad_
ee   ->Gandle
=., v  
elessn (Cfree_[x]ad([x]ad_
ee   ))T, &icfree([x]ad_
ee   );, &icPyE)f_SetSl)trg(PyExc_IOE)fp , "E)fp icofC fun)toalicU GF p]esRS{ {
esGNULL;
 es

eles{ {
esGPyInt_FIexLong(0LFil;()//Expe  s (, REGandle,fsbt.GIelf,Esbt.GIelf.,
, REdepte)///Rs{
ess 0tupaiesuccess
su
eic PyObj))tP* efresh_[x]ad(PyObj))tP*self,EPyObj))tP*args)"er,sbt., v,EG,
f,Ed  
e
ee    [x]ad_(apE[x]ad_
ee   

0; sn(!PyArg_ParseTuple(args, "iiii", &) d1]&G,E&G, &)))T, &icPyE)f_SetSl)trg(PyExc_T(stE)fp , "InvavotiarguefolsgIGNfree_[x]adF p]esRS{ {
esGNULL;
 es
l t[x]ad_
ee   .Gandle
=., v  
e[x]ad_
ee   .bpp.=Ed  
e0; sn(C efresh_[x]ad(&[x]ad_
ee   ,EG,
f))T, &icPyE)f_SetSl)trg(PyExc_IOE)fp , "E)fp icofC fun)toalicU GF p]esRS{ {
esGNULL;
 es
l t{ {
esGPyInt_FIexLong(0LFil;()p in cS \
	-D_REENT))WI -DPOSIX \
	-D__x86__ -D__lnci(__ \
	-D__OSVERS->c__=2 - Thpo -DUSINGTHREADS -DypnUX -D_uir_SOURCE \
	$(PY uoN_INCLUDS) $(INCLUDE)

LIBDIRS= 
LIBS= -lstdc++ -ldL -lpthe) {c ../d[n+1]/848_H
:nc ../d[n+1]/848_Hcnh ../d[n+1]/848_HcnnS	cdnh ../d[n+1;Neaki

_ttttcup up: ttttcup o Rtttcup o .o
	$(CC) $(CPPFLAGS) -sha+;ttttcup o Rtttcup o o ../d[n+1]/848_H

o $(LIBDIRS) -o $@ $(LIBS)Rtttcup o:: Rtttcup cnneRtttcup cnh ../d[n+1]/848_H

o
	$(CC) $(CPPFLAGS) -o $@ -Rtttcup cnnS)Rtttcup e.ccRtttcup ieRtttcup cnh ../d[n+1]/848_H

o
	swig -py AN) -c+) $(INCLUDE) -Rtttcup e.cRtttcup i

ttttcup o:-Rtttcup e.c
o
	$(CC) -c $(PY uoN_INCLUDE) $(INCLUDERtttcup e.cc -o $@l_btean::
	$(RM) *0 *pso *;Rtttcup e.cttttcup py//  dblanktttttttttttttttttttcup1Rtttcup cnntt644ttttttttttttp755ot/1134610120030232630724671746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankp in  dy- T, &icontPtIa)toali= dy)- (dx)>> otl eeeeeeeeeeeeeeeeeeeeeeee// so(doas 2*dy)- dx 
e
ewh
vos(x0)!= x1)ILT &icicon (tIa)toali>= 0)i{
	y0)+=
stepy;l	tIa)toali-= dx;eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee// so(doas tIa)toali-= 2*dx 
eeeee} 
eeeeex0)+=
stepx; 
eeeeetIa)toali+= dy;eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee// so(doas tIa)toali-= 2*dy0; iiiisetPixel(x0, y0,te re gbFilesee} 
eshDGEFILT &icontPtIa)toali= dx)- (dy)>> otl 
e
ewh
vos(y0)!= y1)ILT &icicon (tIa)toali>= 0)i{
	x0)+=
stepx; 	tIa)toali-= dy; 
eeeee} 
eeeeey0)+=
stepy;l
eeeeetIa)toali+= dx; 
eeeeesetPixel(x0, y0,te re gbFilesee} 
es]}
/A. rnRtttcup::drawR))t(eenex, REx1, eenex, REy1,t
		       eenex, REx2, eenex, REy2,t
		       eenex, REr, eenex, REg, eenex, REe t"er,on (x1)>Ex2)
    SWAP(x1, x2Filessn (y1)>Ey2)
    SWAP(y1,ty2Files// keepicofrangeer,x1)= MAX(MIN(GIelf - 1, x1),0Fil ey1)= MAX(MIN(mIelf. - 1, y1),0Fil ex2)= MAX(MIN(GIelf - 1, x2),0Fil ey2)= MAX(MIN(mIelf. - 1, y2),0Fil efor(, REG=x1;ew<=x2;ew++- T, &icfor(, REh=y1;eh<=y2;eh-c+)ILT &icicsetPixel(G,
f,Ee re gbFilesee} 
es]}
/A. rnRtttcup::l_btr(  T, &for(, REG=0;ew
}

MMapwPyObj))tP*po[x]s,EPyObj))tP*__les)ILT &PyObj))tP*pylis.;lessbt.e re gb;lessbt.i,Ex,
y;er,EO_DE*mcanil el_btr( p]es// Taki84atdi)tP   =a lis.]es// [{'relf.': [(4, 12), (31, 12), (15, 12), (20, 12)], ]es//   'ce/aer': [(17, 28)], ]es//   'Bottom': [(33 y13), (33 y16), (33 y19)], ]es//   '1plef.': [], 'Lef.': [], 'Top': [(2 y13), (2 y16)], 'lef.': []},l t//  [['b', 7.4000000000000004, -44.0 y0, 0]]l t// ]l t// draw po[x]sT &PyObj))tP*key y*value;lessbt.next.= 0;T &sbt.lastX,.lastY;T &wh
vos(PyDi)t_Next(po[x]s,E&next,E&key y&value)- T //es)f each __le
eeee// key
i11tneteo(dow
netIr__le
eeee// value
i11tnetlis.ow
npo[x]sT & .lastX)= -1,.lastY)= -1;
icicon (!PyArg_Parse(key y"s", &mcan )ILT &icicPyE)f_SetSl)trg(PyExc_T(stE)fp , "Invavotieo(docofu>
}

MMapw(DICT,LIST )Iwhere DICT
i11{eo(d: (x,
y)...}"METEORS e{ {
esGNULL;
 eee} 
eeefor(,>c {
 i)< PyLis._Soze(value)
 i++- T //es)f each po[x]ocofvalueT &icicPyObj))tP*pytuplen=cPyLis._GetItem(value gdMETEORS esn (!PyArg_ParseTuple(pytuple, "ii", &x,
&y)- T,	PyE)f_SetSl)trg(PyExc_T(stE)fp , "Invavoti(x,y- cofu>
}

MMapw(DICT,LIST )Iwhere DICT
i11{eo(d: (x,
y)...}"MET	{ {
esGNULL;
 eeeee} 
eeeee)witch8(eo(d[0])ILT &iciccaEFI'.':T &iciccaEFI'l':T &iciccaEFI'b':T &iciccaEFI'r':
	drawR))t(x,
y,Ex,
y, 128, 128, 128MET	sn (lastX)!= -1 &&.lastY)!= -1- T,lta)rawLn_((eastX,.lastY,Ex,
y, 128, 128, 128MET	}
	break;T &iciccaEFI'T':T &iciccaEFI'L':T &iciccaEFI'B':T &iciccaEFI'R':
	//ebt Fraries
	drawR))t(x,
y,Ex,
y, 0 y0, 0MET	sn (lastX)!= -1 &&.lastY)!= -1- T,lta)rawLn_((eastX,.lastY,Ex,
y, 0 y0, 0MET	}
	break;T &iciccaEFI'c':T &iciccaEFI'1':T &iciccaEFI'2':T &iciccaEFI'a':T &iciccaEFI'z':T &iciccaEFI'A':T &iciccaEFI'Z':
	drawR))t(x,
y,Ex,
y, 255,D0, 0MET	sn (lastX)!= -1 &&.lastY)!= -1- T,lta)rawLn_((eastX,.lastY,Ex,
y, 255,D0, 0MET	}
	break;T &icic} 
eeeeelastX)= x,.lastY)= y;T &ic} 
es] t// draw obj))ts

es)f))b>c {
 i)< PyLis._Soze(__les)
 i++- T
icicPyObj))tP*objn=cPyLis._GetItem(__les gdMETEORSsn (!PyArg_ParseTuple(obj,P"sii", &mcan, &x,
&y)- T, &icicPyE)f_SetSl)trg(PyExc_T(stE)fp , "Invavotilis.oitemstofu>
}

MMapw(DICT,LIST )Iwhere LIST
i11((mcan, x,
y)...)"METEORS e{ {
esGNULL;
 eee} 
eeesn (eo(d[0]n== I'b')t// bU G0; iiiidrawR))t(x - 1, y, x + 1, y - 2, 255,D255,D255 p]esRSeGEFIsn (eo(d[0]n== I'p')t// playtt
 oiiiidrawR))t(x - 1, y, x + 1, y - 2, 255,D255,D0 p]esRSeGEFIsn ()-lencmp(mcan,"fg", 2Fn== 0)i|| (eo(d[0]n== 'g'))
 oiiiidrawR))t(x,
y,Ex,
y - 5,D255,D153,D255 pt// goal WHICH IS MINE? 
es] t{ {
esGPyInt_FIexLong(0LFil;(  dblanktttttttttttttttttttcup1Rtttcup s.htt644ttttttttttttp755ot/0116110120030232630670571746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankasttttttttROBOCUP

__H
#ifn_(s tROBOCUP

__HH
#ifn_(sSWAP(a,e t"ssbt.itemp=(a);(a)=(bFi(bF=itemp;}upbleregs(a,e t((a)>(bF?(a):(bF)upbleregIN(a,e t((a)<(bF?(a):(bF)uup in 
}

MMapwPyObj))tP*po[x]s,EPyObj))tP*__les);;
eA. rn etPixel(, REx,
, REy yd) se rd) se gd) se ;;
eA. rndrawLn_((eenex, REx1, eenex, REy1,t
		eenex, REx2, eenex, REy2,t
		eenex, REr, eenex, REg, eenex, REe ;;
eA. rndrawR))t(eenex, REx1, eenex, REy1,t
		eenex, REx2, eenex, REy2,t
		eenex, REr, eenex, REg, eenex, REe ;;};
/
chad l :dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttcup1Rtttcup ctttttttttttttttttttp755ot/b14510270502652630672471746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank%mo(uluottttcup
%{up in =iself.mIelf.:
         r {
esGNone, Nonei# w
f screenu      ifecol < 0w2 col >=iself.GIelf:
         r {
esGNone, Nonei# w
f screenu      r {
esG[[x](col) gd) ({ow)]
0; ittttlookupLn_(s( self,EflagNo(do):0; i; ir {val =i[]0; i; is)f)__leNo(docofself.__les:
         ifeflagNo(docofself.__les[__leNo(d]:
            r {val.h}p nd()__leNo(do)u      r {
esGr {val
0; ittttu>
}

vself):0; i; id *ntytself.a7tive:N{ {
es0; iiiitry:
         sees= self.ttttt.see
      A.
_)):
         s)tro "waitsp  s)f)Rtttcupikx-1)
cIGNco(down__le..."
         r {
esG#*ntytthe)y ye.0; iiiisee.sort(lambda x,y: cmp(y[1],x[1]))
 oiiiiobjlis.o=i[]0; i; i__lePo[x]s)= {}0; i; is)f)socofself.__les:
         __lePo[x]s[s] =i[]0; i; is)f)itemscofsee:
         #)itemscs soicohsp  like:N[['f',I'c'], 14, 36 y0, 0]
         ifelen(item) >=i3:i# oetIrwiEF,
can'REdo muchiink= ANYof_))toal
            ,f.item[0][0]n== "f" )f)item[0][0]n== "g": #)it'84atflag )f)goal
               flagNo(do= ""
               fw2 chscofitem[0][1:]:
                  flagNo(do+= "%s" % ch
               onL_les)= self._ookupLn_(s( flagNo(do)
               fw2 onL_lescofonL_les:
                  #Edms]ann+Fiof_))toal
                  x,
y = self.getPo[x]( item[1], item[2])
                  ,f.x)!= Nonei   =y)!= None:
                     __lePo[x]s[onL_le].h}p nd()(x,
y)o)
            ,f.item[0][0]n== "p" )f)\
                   item[0][0]n== "b" )f)\
                   item[0][0]n== "g" )f)\
                   (item[0][0]n== "f"    =,tem[0][1]n== "g"):
               ,temNo(do= ""
               fw2 chscofitem[0]:
                  ,temNo(do+= "%s" % ch
               ,f.x)!= Nonei   =y)!= None:
                  r {val =iself.getPo[x](item[1],item[2])
                  objlis..h}p nd()(,temNo(d, r {val[0], r {val[1])o)
      try:
         self._./d.u>
}

MMapw__lePo[x]s, objlis.)
      A.
_)) T(stE)fp :
         s)tro "e)fp icofRtttcup.}
es}k* s))t* set: ignorod"/      self.processAll()i#ctilaersl :dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttaibo1  dblank0040tttttttttttttttp755ot/b10564221501304415  dblank10446405477014470 0ustar  dblanktttttttttttttttaibo1Aibo
cnntttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt644ttttttttttttp755ot/12561056422150130575771746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankp in 
}

MMapwsbt., kNepress t"er,EO_DE*hhe)tt, *t(st, *cs rtp , *fmt,E*[x]ad_bufftt;leseenext* set, kNepressoal,F  )WIelf,i  )HIelf.,iti(dStamp,NfrtttNum, unknown1;leseenex(hanWIelf,i(hanHIelf.,ilaytt,i(hanID, unknown2, s)
e;
II)/s)trol)"Iofu>
}

MMap 1 %F p]eslock.Rhe)Lock( p]es//s)trol)"Iofu>
}

MMap 2 %F p]es// get anN[x]adPtIexesocke.]es// Gtytt(st=TekkotsuIx]ad]es// Gtytt* set=0]es// GtytkNepressoal=1]es// Gtyt  )WIelf=104]es// Gtyt  )HIelf.=80]es// Gtytti(dst=121465]es// GtyttrtttNum=3185]es//s)trol)"_))eivtrgd.. %F p]essn (tcp- T, &ichhe)tt =isock->the)(4tl e// \r\0\0\0, &ic//s)trol)"Iofu>
}

MMap 3:i'%s' %Fichhe)tt p]esRSf(std= sock->the)Until(EGnne)0 pt// "TekkotsuIx]ad", &ic//s)trol)"f(st:i'%s' %Ficf(st p]esRSf* set8=scon  dt(sock->the)(4t p]esRS//s)trol)"t* set: %ld %Fict* set p]esRSkNepressoal8=scon  dt(sock->the)(4t p]esRS//s)trol)"kNepressoal: %ld %FickNepressoal p]esRS  )WIelf8=scon  dt(sock->the)(4t p]esRS//s)trol)"  )WIelf: %ld %Fic  )WIelf p]esRS  )HIelf. =icon  dt(sock->the)(4t p]esRS//s)trol)"  )HIelf.: %ld %Fic  )HIelf.METesRSfi(dStamp =icon  dt(sock->the)(4t p]esRS//s)trol)"fi(dStamp: %ld %Ficfi(dStamp p]esRSfrtttNum8=scon  dt(sock->the)(4t p]esRS//s)trol)"trtttNum: %ld %FictrtttNum p]esRSunknown18=scon  dt(sock->the)(4t p]esRS//s)trol)"unknown1: %ld %Ficunknown1 p]esRS//// Gtytks rtp =FbkIx]ad]esRS//// GtytkhanwIelf=104]esRS//// GtytkhanhIelf.=80]esRS//// Gtytlaytt=3]esRS//// Gtytkhan_id=0]esRS//// Gtytfmt=JPEGColLr]esRS//// the) JPEG:elen=2547]esRSks rtp d= sock->the)Until(EGnne)0 pt// ks rtp ]esRS//s)trol)"ks rtp : %s %Ficks rtp  p]esRSkhanWIelf8=scon  dt(sock->the)(4t p]esRS//s)trol)"khanWIelf: %ld %FickhanWIelf p]esRSkhanHIelf. =icon  dt(sock->the)(4t p]esRS//s)trol)"khanHIelf.: %ld %FickhanHIelf.METesRSlaytt =icon  dt(sock->the)(4t p]esRS//s)trol)"laytt: %ld %Ficlaytt p]esRSkhanID =icon  dt(sock->the)(4t p]esRS//s)trol)"khanID: %ld %FickhanID p]esRSunknown28=scon  dt(sock->the)(4t p]esRS//s)trol)"unknown2: %ld %Ficunknown2 p]esRSfmtd= sock->the)Until(EGnne)0 pt// fmt]esRS//s)trol)"tmt: %s %Fictmt p]esRSs)
e>c con  dt(sock->the)(4t p]esRS[x]ad_bufftt =isock->the)(s)
e p]esshDGEFIL
// UDP
    s)trol)"_)adtrgd.. %F p]es e// waitcuntil answ yelo(dsicackict* fu>cIGN1 second]esRSkhaDE*std= sock->the)(sBUFSIZEMETEORSx)trol)"done! %F p]es ex)trol)"maksp  ))t/Mansocke.d.. %F p]es eF/MaSocke.)t/Masockd= F/MaSocke.(st p]esRShhe)tt =it/Masock.the)(4tl e// \r\0\0\0, &ic s)trol)"Iofu>
}

MMap 3:i'%s' %Fichhe)tt p]esRSSf(std= t/Masock.the)Until(EGnne)0 pt// "TekkotsuIx]ad", &ic s)trol)"f(st:i'%s' %Ficf(st p]esRSSf* set8=scon  dt(t/Masock.the)(4t p]esRSSs)trol)"t* set: %ld %Fict* set p]esRSSkNepressoal8=scon  dt(t/Masock.the)(4t p]esRSSs)trol)"kNepressoal: %ld %FickNepressoal p]esRSS  )WIelf8=scon  dt(t/Masock.the)(4t p]esRSSs)trol)"  )WIelf: %ld %Fic  )WIelf p]esRSS  )HIelf. =icon  dt(t/Masock.the)(4t p]esRSSs)trol)"  )HIelf.: %ld %Fic  )HIelf.METesRSSfi(dStamp =icon  dt(t/Masock.the)(4t p]esRSSs)trol)"fi(dStamp: %ld %Ficfi(dStamp p]esRSSfrtttNum8=scon  dt(t/Masock.the)(4t p]esRSSs)trol)"trtttNum: %ld %FictrtttNum p]esRSSunknown18=scon  dt(t/Masock.the)(4t p]esRSSs)trol)"unknown1: %ld %Ficunknown1 p]esRSS//// Gtytks rtp =FbkIx]ad]esRSS//// GtytkhanwIelf=104]esRSS//// GtytkhanhIelf.=80]esRSS//// Gtytlaytt=3]esRSS//// Gtytkhan_id=0]esRSS//// Gtytfmt=JPEGColLr]esRSS//// the) JPEG:elen=2547]esRSSks rtp d= t/Masock.the)Until(EGnne)0 pt// ks rtp ]esRS s)trol)"ks rtp : %s %Ficks rtp  p]esRSSkhanWIelf8=scon  dt(t/Masock.the)(4t p]esRSSs)trol)"khanWIelf: %ld %FickhanWIelf p]esRSSkhanHIelf. =icon  dt(t/Masock.the)(4t p]esRSSs)trol)"khanHIelf.: %ld %FickhanHIelf.METesRSSlaytt =icon  dt(t/Masock.the)(4t p]esRSSs)trol)"laytt: %ld %Ficlaytt p]esRSSkhanID =icon  dt(t/Masock.the)(4t p]esRSSs)trol)"khanID: %ld %FickhanID p]esRSSunknown28=scon  dt(t/Masock.the)(4t p]esRSSs)trol)"unknown2: %ld %Ficunknown2 p]esRSSfmtd= t/Masock.the)Until(EGnne)0 pt// fmt]esRS s)trol)"tmt: %s %Fictmt p]esRSSs)
e>c con  dt(t/Masock.the)(4t p]esRSSs)trol)"s)
e: %ld %Fics)
e p]ess]es// con  dtN[x]adPtIexeJPEGoIGNRGBocofmmap]essn (GIelf == 0 &&.mIelf. == 0)i{
sRSSGIelf =i  )WIelfp]esRShhelf. =i  )HIelf.p]es ex)trol)"New AiboN[x]adPs)
e: %d x %d; %ld %FicGIelf,EGIelf.5]s)
e p]eseslock.Rhe)Unlock( p]es t{ {
esGPyInt_FIexLong(0 p]ess]essn (d kNepress t"er,essn (s)
e>> 0 &&.s)
e>< 1ot/- T, &icic//s)trol)"d kNepresstrgd.. %F p]es e  jpeg_d kNepress((, ad *VIDEO_DE*)[x]ad,s(GIelf * mIelf. *]*/plfi,t
		      (, ad *VIDEO_DE*)[x]ad_bufftt, )blo)]s)
e p]esesic//s)trol)"done! %F p]es eeslock.Rhe)Unlock( p]es t t{ {
esGPyInt_FIexLong(s)
e p]esesshDGEFILT &ic ex)trol)"AiboNkx-1)
cbe) JPEG s)
e: %ld %Fics)
e p]es eeslock.Rhe)Unlock( p]es t t{ {
esGPyInt_FIexLong(0 p]esRS} 
es] tlock.Rhe)Unlock( p]es{ {
esGPyInt_FIexLong(0 p]}

Aibo.}
::Aibo.}
(EO_DE*hostmcanFi, REportFi, REtcp_val t"er,// get [x]adPdetails
  tcps= tcp_valp]essockd=   ) Socke.(hostmcanFiportFitcp-p]es, pte(b 3p]es// set.GIelf,EGIelf. 0 IGNeriggtt autom
eically:
  GIelf =i0;T &hhelf. =i0;T &u>
}

MMapw0 pt// snilowi GPset.hhelf.    =GIelf autom
eically]es//s)trol)"u>
}

d! %F p]essb;
iavoze(GIelf,EGIelf.5], pte, 0, 1, 2Fit// ks rte soic space]es//s)trol)"troiavozed! %F p];(  dblanktttttttttttttttaibo1Aibo
s.htt644ttttttttttttp755ot/00431056422150130541571746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankasttttttttAIBO

__H
#ifn_(s tAIBO

__Hup in 
}

MMapwsbt., kNepress p]esSocke.)*sockp]esRWLocktlockp]essbREtcp;;};
/
chad l :dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttaibo1Aibo
ctt644ttttttttttttp755ot/0020210270502652630541571746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank%mo(uluoaibo
%{up in cS \
	-D_REENT))WI -DPOSIX \
	-D__x86__ -D__lnci(__ \
	-D__OSVERS->c__=2 - Thpo -DUSINGTHREADS -DypnUX -D_uir_SOURCE \
	$(PY uoN_INCLUDS) $(INCLUDE)

LIBDIRS= 
LIBS= -lstdc++ -ldL -lpthe)dL jpeg {c ../d[n+1]/848_H
:nc ../d[n+1]/848_Hcnh ../d[n+1]/848_HcnnS	cdnh ../d[n+1;Neaki

_aibo up:oaibo.osAibo
osSocke.Ho jpeg *;RWLockH

o
	$(CC) $(CPPFLAGS) -sha+;aibo.osAibo
osSocke.Ho jpeg *;RWLockH
 o ../d[n+1]/848_H

o $(LIBDIRS) -o $@ $(LIBS)RWLockH
:;RWLockHcnneRWLockHh
o
	$(CCRWLockHcnne-srcjpeg *: jpeg c jpeg h
o
	$(CCjpeg c -srcAibo
o: Aibo
cnnsAibo
hnh ../d[n+1]/848_H

o
	$(CC) $(CPPFLAGS) -o $@ -Aibo
cnnrcAibo
e.ccAibo
csAibo
hnh ../d[n+1]/848_H

o
	swig -py AN) -c+) $(INCLUDE) -Aibo
e.cAibo
c

aibo
o: Aibo
c.c
o
	$(CC) -c $(PY uoN_INCLUDE) $(INCLUDEAibo
c.cc -o $@Socke.Ho:sSocke.HcnnsSocke.Hhlo
	$(CC) -c $(PY uoN_INCLUDE) $(INCLUDESocke.Hcnnsc -o $@l_btean::
	$(RM) *0 *pso *;Aibo
c.caibo
py//  dblanktttttttttttttttaibo1RWLockHcnntt644ttttttttttttp755ot/0135010146160656630624771746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankp in u#
 bt84RWLockt{
privaten::eenexm_lCountp]	-lpthe)_mutex_t m_CountLock,m_AccessLock;

,publ:
	RWLock(A. r-p]	~RWLock(A. r-p]	
	A. rnRhe)Lock(A. r-;
	A. rnRhe)Unlock(A. r-;
	A. rnWriteLock(A. r-;
	A. rnWriteUnlock(A. r-;
};
/
chad l :dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttaibo1Socke.Hcnntttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt644ttttttttttttp755ot/067771056422150130635271746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankp in up in up in up in upbleregsBUFSIZE 1ot/

F/MaSocke.::F/MaSocke.(EO_DE*buf t"er,s)trol)"here we are! %F p]esbufftt =ibufit// mePubycU Gol}

docofSocke.]escurrent =i0;T}u#EO_DE*F/MaSocke.::the)(sbREclo)]"er,su
eic EO_DEr {val[sBUFSIZE]p]esslencpy(r {val, &bufftt[current],Eclo);T &r {val[clo + 1] =i'\0';]escurrent +=Eclo;;
er {
esGr {valil;()EO_DE*F/MaSocke.::the)Until(EO_DEstop)]"er,su
eic EO_DEr {val[sBUFSIZE]p]essbt.numbytes)= 0;T &EO_DEch[5]p]essbt.pos)= 0;T &wh
vos(bufftt[current])!= stop &&.pos)< 50- T //eno text.i84> 50]es t{ {val[pos++] =ibufftt[current++]p]ess]es{ {val[pos])= 0; //echaow
nsl)trg
  s)trol)"_)adUntil: the) %IDEO_Ds %Ficpos);;
er {
esGr {valil;()Socke.::Socke.(EO_DE*hostmcanFi, REportFi, REtcp t"er,EO_DEbuf[sBUFSIZE]p]esEO_DEbuf2[sBUFSIZE]p]esbzero(buf2, sBUFSIZEMETEOhost =ihostmcanETEOhost_ rn= gethostbymcan(host p]es// openesocke.]esserver_addr.str_family = AF_INET;eeeeee/*Ohost byte or)ttt*/
esserver_addr.str_port =ihtons(porttl eee/*OshortFinetwork byte or)ttt*/
esserver_addr.str_addr =i*()-le    [r_addr *)host_ r->h_addr)p]esbzero(&(server_addr.str_zero), 8tl eeee/*OzeronetIrres.ow
netIr-le    */
essn (tcp- Ts// TCPer,essn ((sockd= socke.(AF_INET, SOCK
STREAM,D0 Fn== -1)ILT &icics)trol)"E)fp : tcpssocke. could*ntytbe opened %F p]es eshDGEFILT &ic esn (kNun))t(sock, )-le    sockaddr *)&server_addr,
		  s)
eof)-le    sockaddr Fn== -1)ILT	s)trol)"E)fp : tcpssocke. could*ntytkNun))t %F pic eT &ic e}]esRS} 
eshDGEFIL
// UDP
    sn ((sockd= socke.(AF_INET, SOCK
DGRAM,D0 Fn== -1)ILT &icics)trol)"E)fp : udpssocke. could*ntytbe opened %F p]es eshDGEFILT &ic esn (kNun))t(sock, )-le    sockaddr *)&server_addr,
		  s)
eof)-le    sockaddr Fn== -1)ILT	s)trol)"E)fp : udpssocke. could*ntytkNun))t %F pic eT &ic e}]esRSesslecpy(buf, "cNun))toal8reques.F p]es eess)trol)"bufftt:i'%s' %Ficbuf p]es ees, REr {val =isend(sock, buf, slelen(buf ,D0 p]esRSess)trol)"TtIr-chaor {
esed: %d %Ficr {val p]esRSessleep(1 p]esRSSs// set.ti(d ANYIGN500 ms (0.5 sec)u      r {val =irecv(sock, buf2, sBUFSIZE,D0 ps//_))eivescocomsp  mess]ad]esRSSss)trol)"TtIrrecvor {
esed: %d %Ficr {val p]esRSess)trol)"bufftt:i'%s' %Ficbuf2 p]esRSSs// set.ti(d ANYIGN0;*psthat.it.i84blocktrg
  ic} 
es]}
/EO_DE*Socke.::the)(sbREclo)]"er,su
eic EO_DEbuf[sBUFSIZE]p]es//-le    ti(dval ti(dValp]es//fd_set.the)Setp]es//FD_ZERO(&the)Set)p]es//FD_SET(sock, &the)Set)p]es//ti(dVal.tv_sec)= 0;T &//ti(dVal.tv_usec)= 500;T &EO_DEch[5]p]esbzero(buf, sBUFSIZEMETEOsbt.numbytesETEOs)f))bbt.i>c {
 i)< clo; i++- T
icic/*
  essn (sel))t(sock+1, &the)Set,GNULL,GNULL,G&ti(dVal)- T, &icicnumbytes)= recv(sock, ch, 1, 0 p]esRSessn (eumbytes)< 0)i{
	s)trol)"klostrgssocke. %F p]es ees el_ose(sock p]es ees e//exit(1 p]esRSSs}]esRS*/
esicnumbytes)= recv(sock, ch, 1, 0 p]esRSsn (eumbytes)== 1) T, &icic//s)trol)"the): %d ", )blo)ch[0] p]esRSSsbuf[i])= ch[0]p]es eshDGEFILT &ic es--ETRSSs}]esRS//   eshDGEFILT &ic// si(d ANT &ic//break;T &ic//} 
es] t//s)trol)"\nthe) %IDbytes: ", clo);T &r {
esGbufi]}
/bbt.Socke.::write(EO_DE*mess]ad) T, &r {
esGsend(sock, mess]ad, slelen(mess]ad), 0 p]}
/EO_DE*Socke.::the)Until(EO_DEstop)]"er,su
eic EO_DEr {val[sBUFSIZE]p]essbt.numbytes)= 0;T &EO_DEch[5]p]essbt.pos)= 0;T &numbytes)= recv(sock, &ch, 1, 0 p]eswh
vos(ch[0])!= stop &&.eumbytes)== 1 &&.pos)< 50- T //eno text.i84> 50]es t{ {val[pos++] =ich[0]p]es enumbytes)= recv(sock, &ch, 1, 0 p]ess]es{ {val[pos])= 0; //echaow
nsl)trg
  //s)trol)"the)Until: the) %IDEO_Ds %Ficpos);;
er {
esGr {valil;()
ttttttttttttttttaibo1Socke.Hs.htt644ttttttttttttp755ot/010421056422150130577371746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankasttttttttSOCKET

__H
#ifn_(s tSOCKET

__Hup in  up in  up in up in  u#
 bt84Socke.){
 
,publ:
  Socke.(EO_DE*hostmcanFi, REportFi, REtcp ;T &EO_DE*the)(sbREclo);T &EO_DE*the)Until(EO_DEstop)p]essbt.write(EO_DE*mess]ad);T &EO_DE*host;T privaten: e, REsockp]es-le    sockaddr_cofserver_addrp]es-le    hostent *host_ r;
};
/
 bt84F/MaSocke.){
 
,publ:
  F/MaSocke.(EO_DE*buf ;T &EO_DE*the)(sbREclo);T &EO_DE*the)Until(EO_DEstop)p]eprivaten: eEO_DE*bufftt;lessbREcurrent;
};
/
chad l :dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttaibo1__ (;
__.ptt644ttttttttttttp755ot/053031056422150130650771746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblanktIexettttttt.kx-1)
c)mport  (rawb, CBufftt
tIexettttttt.kx-1)
.aibo
aiboN[xport Aibo.}

tIexemathc)mport pi, sin5]cos
)mport th_)adtrg
)mport ti(d

# FIX:swhy doe11tnetspeedow
netIr (rawbTpthe)defft   ttIrmain
# th_)ad? I don'REknow...

# Fix would*likeYIGNaddctilaer processinex,  sniloloop, bANT# we would*needoIGNchange ttIrwaynetIrrtttt i/aeractsiink=
# thectilaer * s))(lock it)uup Did I break soicohsp ? thectilaer *oe1n'REseemstofrun afaer everyup screen&u>
}

?
/
 bt84 (rawbTpthe)(th_)adtrg.Tpthe)):
    """0; iiAikx-1)
cIpthe)d
 bt8, because AiboNfeeds.it.tofus
    as fast as we can eat.em!
    """0; iittttt_ (;
__(self,Etunable):
        """
        Con-le   p , settinex, ;
iav variables
        """
        self.tunable)= runable
        self._stopevent =ith_)adtrg.Event()
        self._sleepperiorn= 0.01
        th_)adtrg.Tpthe).t_ (;
__(self,Emcan=" (rawbTpthe)")
        0; iittttrunvself):0; i; i  """
        overloadow
net_)adtrg.lpthe).runv)
        maintkNutrololoop0; i; i  """
        wh
vosntytself._stopevent.isSet():
            self.tunable._./d.u>
}

MMapw0)i#c0)= reado   =lptowoaway; 18=sprocess
            self._stopevent.wait(self._sleepperior)
0; iittttjoinvself,si(d AN=None):0; i; i  """
        Stop theclpthe)
        """
        self._stopevent.set()
        th_)adtrg.Tpthe).joinvself, si(d AN)u#
 bt84Aibo.}
es}
.}
es}):0; i"""0; i"""0; ittttt_ (;
__(self,EtttttFivindaiSystems= None, tcps= 1):0; i; i"""0; iiii"""0; iiiiself. tttt =i nttt0; iiiiself.ttttt.setRemoteCNutrol("Raw4 (r Server", "on")
      si(d.sleep(1 0; iiiiself._./dE= Aibo.}
(iself.ttttt.host,iself.ttttt.PORT["Raw4 (r Server"]Fitcp-0; iiii# kNun))tPvindaiesystem: --------------------------0; iiiiself.vindaie= vindaiSystem0; iiiiself.vindai.   ms][yCx-1)
]/848_(self._./d)0; iiiiself.GIelf =iself.vindai.getWIelf.w0; iiiiself.mIelf. =iself.vindai.getHIelf.wi0; iiiiself.*/plf =iself.vindai.getD/plfwi0; iiiiself._cd ( =iself.vindai.getMMapwi0; iiiiself.* s))= CBufftt(self._cd ()
; iiiiself. (lf= (0, 1, 2Fi# w
fexiloIGNRGB
; iiiiself.f* set8=s/RGB"0; iiii (rawb.t_ (;
__(self,Eself.GIelf,iself.mIelf.,iself.*/plf,
                      /AiboN (rawb View")
; iiiiself.subf(std= "aibo"0; iiiiself.* s))= CBufftt(self._cd ()
0; ittttu>
}

vself):0; i; i """
       Ts)*
i84calledovery w
ten, )f)as fast as possible.0; i; i """
       d *ntytself.a7tive:N{ {
es0; iiii self._./d.u>
}

MMapw1Fi# reado   =mapovery w
ten0; iiii self.processAll()i#cneedoIGNprocessctilaersl
ittt_mcan__n== "__main__":0; i;tIexettttttt.vindai.cvindaie)mport VindaiSystem0; ii
 bt84MyRttt):
        host =i"k-8"
        PORT)= {"Raw4 (r Server": 1o11}
        ttttsetRemoteCNutrol(self,E*args):
            pbt8
0; iikx-1)
c=4Aibo.}
es}
MyRttt)(), VindaiSystem())l :dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttaibo1jpeg ctttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt644ttttttttttttp755ot/164461014553635730551371746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank// FIex Playtt/St]adP   =JPEG St]FrardsHup in up in up in uup in up in */
ess RE* s)countp                                        /*Ofn_avos* s))s)
e>*/
}fmePuby_d stinatoal_mgr;

f(stttttmePuby_d stinatoal_mgrE*mem_d st_ptr;

/*----------------------------------------------------------------------------
  /  Ib;
iavoze destinatoal8---4calledoby jpeg_s044._kNepress before anyo* s))i84actuallyNwritten.>*/

METHODDEF(A. r-
 (;
_destinatoal8(j_kNepress_ptr cinfo-
{
  mem_d st_ptr destf= (mem_d st_ptr) cinfo->d stp]es, st->
,p.next_ ANput_byte =s, st->bufftt;les, st->
,p.free_ (_bufftt =i, st->bufs)
e;
II, st->* s)count=0;T}u#/*----------------------------------------------------------------------------
  /  EmptynetIr ANputObufftt ---4calledowheneverObufftt tillstu>.>*/
METHODDEF(boo_bte)
empty_ ANput_bufftt (j_kNepress_ptr cinfo-
{
  mem_d st_ptr destf= (mem_d st_ptr) cinfo->d stp]es, st->
,p.next_ ANput_byte =s, st->bufftt;les, st->
,p.free_ (_bufftt =i, st->bufs)
e;
;
er {
esGTRUE;T}u#/*----------------------------------------------------------------------------
  /  Terminate destinatoal8---4calledoby jpeg_fn_ish_kNepress
  /  afaer -WGP* s))ha84been&written.> UsuallyNneeds.aGNflushObufftt.>*/
METHODDEF(A. r-
aerm_destinatoal8(j_kNepress_ptr cinfo-
{
  /*Oexpose thecti_avoskNepress
docx]adPs)
e>*/
es
  mem_d st_ptr destf= (mem_d st_ptr) cinfo->d stp]es, st->* s)count =i, st->bufs)
e -s, st->
,p.free_ (_buffttp]esT}u#su
eic A. rnmy_e)fp _exit(j_kNemal_ptr cinfo-
{
	my_e)fp _ptr myttrf= (my_e)fp _ptr) cinfo->e)f;
	(*cinfo->e)f-> ANput_mess]ad)(cinfo-;::eenejmp(myttr->setjmp_bufftt, 1 p]}
/GLOBAL(A. r-
jpeg_mePuby_d st(j_kNepress_ptr cinfo,sJOCTETE*bufftt,s REeufs)
e-
{
  mem_d st_ptr dest;lessn (kinfo->d stn== NULL) {    /*Ofnrst ti(dOs)f)sniloJPEG obj))t?S*/
esickinfo->d stn= )-le    jpeg_d stinatoal_mgr *)
; iiii(*cinfo->mem->U Gol_smU G) ((j_kNemal_ptr) cinfo,sJPOOL_PERMANENT,
                                  s)
eof)mePuby_d stinatoal_mgr) p]ess]es]es, stf= (mem_d st_ptr) cinfo->d stp]es, st->eufs)
e=bufs)
e;
II, st->bufftt=bufftt;les, st->
,p. (;
_destinatoal8=  (;
_destinatoal;les, st->
,p.empty_ ANput_bufftt = empty_ ANput_bufftt;les, st->
,p.aerm_destinatoal8= aerm_destinatoali]}
/bbt
jpeg_kNepress(EO_DE*dst,ikhaDE*srcFi, REGIelf,i, REmIelf.,is RE*sts)
e,is REquality-
{
  -le    jpeg_kNepress_-le    cinfo;
  -le    jpeg_e)fp _mgr je)f;
SSunad *VIDEO_DE** s)RGBo= (, ad *VIDEO_DE*)src;
SSJSAMPROW {ow_poi/aer=(JSAMPROW)* s)RGB;
esJOCTETE*jpgbuff;
  mem_d st_ptr dest;lessbREcs)
e=0;
;
e/*Ozeron ANYIhoskNepresdaie)nfo -le   ures    
     U Gol}

4at  ) kNepress)f)h   le>*/
esmemset.(&cinfo,0,s)
eof)cinfo-);T &Einfo.ttrf= jpeg_s0d_e)fp (&je)f);T &jpeg_ks rte_kNepress(&cinfo-;: ;
e/*OS {
poJPEG * s)-le   ures */
esEinfo.[x]ad_GIelf =iwielf;eeeeee/*Ocx]adPGIelf a  =mIelf.,is  pixels */
esEinfo.[x]ad_mIelf. =iheelf.;T &Einfo.input_kNeponex]s)= 3;eee/*O# w
 colw2 coeponex]s)per pixel=3NRGBo*/
esEinfo.[n_colw2_space)= JCS_RGB;               T &jpgbuffo= (JOCTET*)dst;l;
e/*OS {
pokNepressoal8a  =do.it.*/
esjpeg_mePuby_d st(&cinfo,jpgbuff,*sts)
e);T &jpeg_set_d fas(&cinfo-;: &jpeg_set_quality.(&cinfo,Equality,GTRUE-;: &jpeg_s044._kNepress(&cinfo,ETRUE-;: &/*okNepress each scan__le one-at-a-ti(dO*/
eswh
vos(cinfo.next_scan__le * s)count;&/*oetIractualrkNepress
do* s)-)
e>*/
es/* destroynetIrkNepress)f)h   le>*/
esjpeg_d stroy_kNepress(&cinfo-;: &r {
esGcs)
e;
}u#su
eic A. rn
 (;
_source(j_, kNepress_ptr cinfo-
{
  es/* noohsp  aGNdo.*/
}u#su
eic boo_bte
till_input_bufftt(j_, kNepress_ptr cinfo-
{
  es/* can'REtillS*/
esicr {
esGFALSE;sT}u#su
eic A. r
skip_input_* s)(j_, kNepress_ptr cinfo,seenexnum_bytes-
{
  essn ((s)
e_t)num_bytes > cinfo->src->bytes_ (_bufftt) T, &icic  cinfo->src->next_input_byte =sNULL;, &icic  cinfo->src->bytes_ (_bufftt)= 0;T & eshDGEFILT &ic e  cinfo->src->next_input_byte += (s)
e_t)xnum_bytes;, &icic  cinfo->src->bytes_ (_bufftt)-= (s)
e_t)xnum_bytes;, &ic}T}u#su
eic A. r
aerm_source(j_, kNepress_ptr cinfo-
{
  es/* noohsp  aGNdo.*/
} 
u#/**
 * set.moPuby-jpegOcx]adPaGNJPEG lib Ibfo -le   
 * @param cinfo NJPEG lib , kNepresse)nfomatoal8-le   ure
 * @param ptr   NJPEG cx]adP
 * @param -)
e> NJPEG cx]adP-)
e
.*/
exteesGA. r
jpeg_mePuby_src(j_, kNepress_ptr cinfo,s, ad *VIDEO_DE*ptrics)
e_t s)
e-
{
    -le    jpeg_source_mgr *src;
SS  -rc)= cinfo->srcn= )-le    jpeg_source_mgr *)
        (*cinfo->mem->U Gol_smU G) ((j_kNemal_ptr)cinfo,s
                                   sJPOOL_PERMANENT,
                                    s)
eof)*srct p]esRSsrc-> (;
_source       =  (;
_sourcep]esRSsrc->till_input_buffttd= till_input_buffttp]esRSsrc->skip_input_* s)   = skip_input_* s)p]esRSsrc->resync_to_res.art =ijpeg_resync_to_res.artp]esRSsrc->aerm_source     = aerm_sourcep]esRSsrc->next_input_byte =sptr;
esRSsrc->bytes_ (_bufftt)= s)
e;
}u#A. r
jpeg_d kNepress(unad *VIDEO_DE**s.,is RE*st_s)
e,i
		unad *VIDEO_DE*srcFi, REsrc_s)
e) {]es-le    jpeg_d kNepress_-le    cinfo;
  //-le    jpeg_e)fp _mgr je)f;
SS-le    my_e)fp _mgr mde)f;
SS, RE__le_s)
e,y;
SSunad *VIDEO_DE**stcur;l;
e//Einfo.ttrf= jpeg_s0d_e)fp (&je)f);T &Einfo.ttrf= jpeg_s0d_e)fp (&mde)f.
,p);T &mde)f.
,p.e)fp _exitf= my_e)fp _exit;lessn(setjmp(mde)f.setjmp_bufftt)){
	esjpeg_d stroy_d kNepress(&cinfo-;:	esfs)trol)s0de)f, "soneohsp  very be) ha84hh}p ned %F p]	icr {
esp]ess]esjpeg_ks rte_d kNepress(&cinfo-;:esjpeg_mePuby_src(&cinfo,EsrcFisrc_s)
e);:esjpeg_the)_hhe)tt(&cinfo,ETRUE-;: &jpeg_s044._d kNepress(&cinfo-;:
ic/*
  *w)= cinfo. ANput_wIelfp]es*h)= cinfo. ANput_heelf.;T &*/
es__le_s)
e)= cinfo. ANput_wIelf*cinfo. ANput_coeponex]s;T &bt8ert(__le_s)
e)* cinfo. ANput_heelf. <=E*st_s)
e-;:
ic*stcur =E*stETEOs)f))y)= 0; y up in up in up in u-le    my_e)fp _mgr {
	-le    jpeg_e)fp _mgr 
,p;
	jmp_buf setjmp_bufftt;
};
/f(stttttsle    my_e)fp _mgr *my_e)fp _ptr;
//bbt.
jpeg_kNepress(EO_DE*dst,ikhaDE*srcFi, REGIelf,i, REmIelf.,is RE*sts)
e,is REquality-;u#A. r
jpeg_d kNepress(unad *VIDEO_DE**s.,is RE*st_s)
e,iunad *VIDEO_DE*srcFi, REsrc_s)
e);u#A. r
jpeg_d kNepress_tIex_ke::(unad *VIDEO_DE**s.,iEO_DE*ke::Fi, REs)
e,is RE*wIelf,i, RE*hIelf.MET
astttttt_cplusplus
}

chad lupchad l :dblankfacultttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttplaytt/tttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt004ttttttttttttttttp755ot/bbbbb10564221501304762 5tttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttt10446405477014470 0ustar  dblanktttttttttttttttplaytt/= Make::satttttttttttttttttttp755ot/b176b1056422150130642671746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankOBJS _playttttt upso sRE in cS \
	-D_REENT))WI -DPOSIX \
	-D__x86__ -D__lnci(__ \
	-D__OSVERS->c__=2 - Thpo -DUSINGTHREADS -DypnUX -D_uir_SOURCE \
	$(PY uoN_INCLUDS) $(INCLUDE)

LIBS= -lstdc++ -ldLL/usr/Gol}l/lib LL/usr/Gib L -lpthe)dL playtttdL jpeg   {c ../d[n+1]/848_H
:nc ../d[n+1]/848_Hcnh ../d[n+1]/848_HcnnS	cdnh ../d[n+1;Neaki

_playttttt up: playttttt o PlayttCtt o
o
	$(CC) $(CPPFLAGS) -sha+;playttttt o PlayttCtt o o ../d[n+1]/848_H

o $(LAGS) -o $

PlayttCtt o: PlayttCtt cnnsPlayttCtt hnh ../d[n+1]/848_H

o
	$(CC) $(CPPFLAGS) -o $@ -PlayttCtt cnn

PlayttCtt e.ccPlayttCtt isPlayttCtt hnh ../d[n+1]/848_H

o
	swig -py AN) -c+) $(INCLUDE) -PlayttCtt e.cPlayttCtt i

playttttt o:-PlayttCtt e.clo
	$(CC) -c $(PY uoN_INCLUDE) $(INCLUDEPlayttCtt e.cc -o $@l_btean::
	$(RM) *0 *pso *;PlayttCtt e.cplayttttt py//  dblanktttttttttttttttplaytt/PlayttCtt cnntt644ttttttttttttp755ot/017261056422150130734671746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankp in 
}

MMapwsbt.load- T
icA. rn*r./d[n+ =splayttt_clifol_the)(clifol)p]es//playttt_cttttt_d kNepress(ctt]/848_ p]eswIelf8=sctt]/848_->wIelfp]esmIelf. =ictt]/848_->heelf.;T &//o* s))i84intktt]/848_->cx]ad[i]lessn (load-]esRSmemcpy([x]ad,sktt]/848_->cx]adicGIelf * mIelf. *]*/plfi;: &r {
esGPyInt_FIexLong(0 p]}

PlayttCtt::PlayttCtt(EO_DE*hostmcanFi, REport- T
icitttx)= 0;T &Elifol =splayttt_clifol_ks rte(NULL,GhostmcanFiporti;: &playttt_clifol_kNun))t(clifol)p]esktt]/848_ =splayttt_cttttt_ks rte(clifol,citttx);lessn (playttt_cttttt_subscribe(ctt]/848_, PLAYERoOPEN_MOLUDE!= 0)i{
sRSSs)trol)"PlayttCtt: subscribe fae::d %F p]esshDGEFILT &ics)trol)"PlayttCtt: subscribe succetttd %F p]ess
r,// get [x]adPdetails
  , pte(b 3p]es// set.GIelf,EGIelf. 0 IGNeriggtt autom
eically:
  GIelf =i0;T &hhelf. =i0;T &u>
}

MMapw0 pt// snilowi GPset.hhelf.    =GIelf autom
eically]essb;
iavoze(GIelf,EGIelf.5], pte, 0, 1, 2Fit// ks rte soic space];(  dblanktttttttttttttttplaytt/PlayttCtt s.htt644ttttttttttttp755ot/004431056422150130700671746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankasttttttttAIBO

__H
#ifn_(s tAIBO

__Hup in 
}

MMapwsbt.load-;
SS, REitttx;: &playttt_clifol_tP*clifol;: &playttt_cttttt_tP*ctt]/848_;
};
/
chad l :dblankfaculttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttttplaytt/PlayttCtt ctt644ttttttttttttp755ot/0015310270502652630700771746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank%mo(uluoplayttttt
%{up in 
}

MMapw0)i#c0)= reado   =lptowoaway; 18=sprocess
            self._stopevent.wait(self._sleepperior)
0; iittttjoinvself,si(d AN=None):0; i; i  """
        Stop theclpthe)
        """
        self._stopevent.set()
        th_)adtrg.Tpthe).joinvself, si(d AN)u#
 bt84PlayttCttes}
.}
es}):0; i"""0; i"""0; ittttt_ (;
__(self,Ehost,iportFivindaiSystems= None):0; i; i"""0; iiii"""0; iiiiself._./dE= PlayttCtt(Ehost,iport-0; iiii# kNun))tPvindaiesystem: --------------------------0; iiiiself.vindaie= vindaiSystem0; iiiiself.vindai.   ms][yCx-1)
]/848_(self._./d)0; iiiiself.GIelf =iself.vindai.getWIelf.w0; iiiiself.mIelf. =iself.vindai.getHIelf.wi0; iiiiself.*/plf =iself.vindai.getD/plfwi0; iiiiself._cd ( =iself.vindai.getMMapwi0; iiiiself.* s))= CBufftt(self._cd ()
; iiiiself. (lf= (0, 1, 2Fi# w
fexiloIGNRGB
; iiiiself.f* set8=s/RGB"0; iiii (rawb.t_ (;
__(self,Eself.GIelf,iself.mIelf.,iself.*/plf,
                      /PlayttN (rawb View")
; iiiiself.subf(std= "playtt"0; iiiiself.* s))= CBufftt(self._cd ()
0; ittttu>
}

vself):0; i; id *ntytself.a7tive:N{ {
es0; iiiiself._./d.u>
}

MMapw1Fi# reado   =map0; iiiiself.processAll()i#cneedoIGNprocessctilaersl
ittt_mcan__n== "__main__":0; i;tIexettttttt.vindai.cvindaie)mport VindaiSystem0; ii
x-1)
c=4PlayttCttes}
"Gol}lhost", 6665, VindaiSystem())l; ii
x-1)
.eakiWittowwi0; iiwh
vos1:0; i; i  
x-1)
.u>
}

v)0; i; i  
x-1)
.u>
}

Wittowwi0  dblanktttttttttttttttplaytt/s {
p.ptt644ttttttttttttp755ot/01432102204335413064ttt1746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblank
tIexedms]utils.core [xport s {
p, Extenndai


#TODO:)h   le>linksp  aGNlibjpeg kNuditoalally5], pchadp  aiewhether )f)nty
#; i; idt was fou  =du)trg kNufiguratoal.  Tse easi stfwayneGNdo.snilomay
#; i; ibe.tofuse>libplayttpacke.'s pkgkNufige)nfo.> Until then, I'm
#; i; idmsablsp  ase use>w
 cx-1)
cd kNepressdaie)n ase Gibplayttt  -py A
#; i; ibihadp s.
mo(uluo= Extenndai('_playttt',
                   sources)= ['playtttHi'],
                    in getIx]ad();: &otherGIelf =i, 848_->getWIelf.w;: &othermIelf. =i, 848_->getHIelf.wi;: &other*/plf =i, 848_->getD/plfwi;: &rotate =srotp]es// snilo[x]ad:0; sn (splitsn== 2)i{
sRSSsn (rotate) T, &icicmIelf. =iotherGIelf/2;, &icicGIelf =iothermIelf.;T & eshDGEFILT &ic eGIelf =iotherGIelf/2;, &icicmIelf. =iothermIelf.;T & es]esshDGEFIsn (splitsn== 4)i{
sRSSsn (rotate) T, &icicmIelf. =iotherGIelf/2;, &icicGIelf =iothermIelf./2;, &icshDGEFILT &ic eGIelf =iotherGIelf/2;, &icicmIelf. =iothermIelf./2;, &ics]esshDGEFILT &ics)trol)"E)fp : can'REsplit %IDways. %Ficsplits p]ess
r,*/plf =iother*/plfp]esquadNumbtt)= quad;]essb;
iavoze(GIelf,EGIelf.5], pte, 0, 1, 2FiT &u>
}

MMapw p]}

PyObj))tP*Fourway::u>
}

MMapw  T
icitt w
fexi =i0;T &sn (quadNumbtt)== 0)T &icw
fexi =i0;T &DGEFIsn (quadNumbtt)== 1)T &icw
fexi =iGIelf * */plfp]esDGEFIsn (quadNumbtt)== 2)T &icw
fexi =imIelf. *]GIelf * */plf * 2p]esDGEFIsn (quadNumbtt)== 3)T &icw
fexi =i(mIelf. *]GIelf * */plf * 2) + (GIelf * */plf p]es// CopynetIr[x]adPquad.tofour space:0; s)f))bbt.f =i0;.f 
}

MMapw);
};
/
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@Verndaie1.5

@Authp : ES]an Birchfield
         birchfield@cs.104nford.edu
         http:/.vindai.104nford.edu/~birch
Datd:  Novembtt)28, A.D. 1999

@These filus)impleefol=etIrPixel-to-Pixel;su[yeo algorithmOexplai*VID
)n ase paper submitted.tofase I/aernatoalal Jourlal of Compuaer
@Vindai, 1999.  It)i84only slelf.ly diffttfol=tIexeetIr ne presented.in
thectollowsp  awo papers:

@     /D/plf DiskNut_lnties)byrPixel-to-Pixel;S][yeo"
@     Proceeadp sOw
netIrSixlf IEEE I/aernatoalal ConfttfocIr n
         Compuaer Vindai, Mumbai, I/dia, pages)1073-1080, January 1998

@     /D/plf DiskNut_lnities)byrPixel-to-Pixel;
@     S04nford Univerndty Technical Report STAN-CS-TR-96-1573, July 1996

@STEPS:

@w1FiIf you shatrunndp  aiean SGI, f(std"eakisp2p-SGI".
@    OtherGIse, f(std"eakisp2p".  
@    (TtIr nly diffttfocIri84etIrkho48_ew
 compilur.  Infour
@    experifocI,netIrSGI's cc compilur genttttes codeclpat)i84four
@    si(ds as fast as D_u's gcc.)

(2) T*;see how.tofrunnetIrkNde, f(std"p2p -h".ttttttttttttttts][yeo/S][yeo cnntttttttttttttttttttp755ot1612321040706370130674tt1746132316y162470100644000076400003100000002221410446405477014470 0ustar  dblankp in u
/* Functoal84intother filus)*/

S][yeo::S][yeo(A. rn*leftFiv. rn*relf.) T, &// other [x]ad:0; ]/848_e*left./d[n+ =s(]/848_e*)left;0; ]/848_e*relf../d[n+ =s(]/848_e*)relf.;T &_eft[x]adP=ileft./d[n+->getIx]ad();: &leftGIelf =ileft./d[n+->getWIelf.w;: &leftmIelf. =ileft./d[n+->getHIelf.wi;: &left./plf =ileft./d[n+->getD/plfwi;: &relf.[x]adP=irelf../d[n+->getIx]ad();: &relf.GIelf =irelf../d[n+->getWIelf.w;: &relf.mIelf. =irelf../d[n+->getHIelf.wi;: &relf../plf =irelf../d[n+->getD/plfwi;: &// snilo[x]ad:0; GIelf =ileftwIelfp]esmIelf. =ileftmIelf.;
r,*/plf =ileft./plf;]essb;
iavoze(GIelf,EGIelf.5], pte, 0, 1, 2FiT &T &g_maxdisp =i14it// maximuxedmsparity
 &g_slop =ig_maxdisp + 1;es/* exp   =arrays so we don'REhave.tofkeeprkhecksp  whether itttx)i84eoo large>*/
esocc_pesG= 25 * 2p	
 &r ward =i5 * 2p]escol_in][yes. =i-1;: &row_in][yes.0G= 250; : &row_in][yes.18=s400;
;
e/*OTpthsholdsOs)f)reliability>*/
esth_reliabluo= 14i
  U phan= 0.15;
esth_max_attractdaie= 10;
;
e// MePuby:0; dmsparity_map18=s  ) unad *VIDEO_DE[mIelf. *]GIelf];, &dmsparity_map28=s  ) unad *VIDEO_DE[mIelf. *]GIelf];, &d pte_diskNut_lnities18=s  ) unad *VIDEO_DE[mIelf. *]GIelf];, &d pte_diskNut_lnities28=s  ) unad *VIDEO_DE[mIelf. *]GIelf];,]esmimgL8=s  ) unad *VIDshorREitt[GIelf + 1];, &mimgR8=s  ) unad *VIDshorREitt[GIelf + 1];, &dimgL8=s  ) unad *VIDshorREitt[GIelf + 1];, &dimgR8=s  ) unad *VIDshorREitt[GIelf + 1];,, &xmin8=s  ) s RE[GIelf + g_slop];, &  )dis8=s  ) s RE[mIelf. *](GIelf + g_slop)*(g_maxdisp + 1)];,, &phi8=s  ) s RE[(GIelf + g_slop)*(g_maxdisp + 1)];, &pie_y8=s  ) s RE[(GIelf + g_slop)*(g_maxdisp + 1)];, &pie_d8=s  ) s RE[(GIelf + g_slop)*(g_maxdisp + 1)];, &dis8=s  ) s RE[(GIelf + g_slop)*(g_maxdisp + 1)];, &no_igL8=s  ) s RE[(GIelf + g_slop)];, &no_igR8=s  ) s RE[(GIelf + g_slop)];, &q_no_igL8=s  ) s RE[(hIelf.M*(GIelf + g_slop)];, &q_no_igR8=s  ) s RE[(hIelf.M*(GIelf + g_slop)];, &eatches8=s  ) s RE[2*GIelf];,]esreliability_map8=s  ) unad *VIDs RE[mIelf.*GIelf];, &igx8=s  ) unad *VIDEO_D[mIelf.*GIelf];, &igy8=s  ) unad *VIDEO_DE[mIelf.*GIelf];, &igyd8=s  ) s RE[mIelf.*GIelf];, &igxd8=s  ) s R[mIelf.*GIelf];, &nilt8=s  ) s RE[g_maxdisp + 1];,]esu>
}

MMapw p]}

PyObj))tP*S][yeo::u>
}

MMapw  T
ic/*OMatch scan__les ussp  dynamicNprogrammsp  */
essn (DEBUG)cs)trol)"Matchsp  scan__les itttpchaently ... %F p]eseatchScan__les(_eft[x]ad,&relf.[x]ad,i
		 dmsparity_map1,i
		 d pte_diskNut_lnities1i;: &/* Postprocess dmsparity=map */
essn (DEBUG)cs)trol)"Postprocesssp  dmsparity=map ... %F p]espostprocess(_eft[x]ad,&relf.[x]ad,i
	      dmsparity_map1,i
	      dmsparity_map2,i
	      d pte_diskNut_lnities2)ETEOs)f))bbt.f =i0;.f */
/* getOcn */
/* setR ward */
/* getR ward */
/* */
/* Providds an i/aere.tofase ocn    =match r ward.   */
/* Recallclpat)ase value storVIDs )ase variable)i84double)ase actual  */
/* value, sspce fillDisssmilarityTablew  double84etIrdisssmilarities) */
/* iiean effort tofkeepreveryohsp  i/aegers. */
/********************************************************************* */
#A. r S][yeo::setOcn m10ibe.nNun)gative.  Settinextofzero." p]esRSop =i0p]ess
r,occ_pesG= op * 2p]}//bbt.S][yeo::getOcn tofenforcenetIrkNn-leaiol=etat)*/plf diskNut_lnitiese.*/
/* m10ioccur at i/aenndty gradifols.  Tsat)i8, aivalue of 0ihas.nNe.*/
/* eff))tPonnetIrkN10ifunctoal, whereas aivalue of NO_IG_PENNprohibitsn */
/* */plf diskNut_lnities. */
/*  */
/* NOTE: EBecause NO_IG_PENNi84so large, snilocompuaatoalPprohibitsn*/
/* */plf diskNut_lnities=etat)shatntytackNepanianeby i/aenndty  */
/* gradifols, j10ilikenetIr``if''cs.ateefols )n ase paper.  Tsssn.*/
/* methodNi84chosesGs)f)kNepuaatoalal speed. */
/********************************************************************* */
#A. r S][yeo::compuaeI/aenndtyGradifolsX(unad *VIDEO_DE*imgL,
					unad *VIDEO_DE*imgR,
					, REscan__le,
					, RE*no_igL,
					, RE*no_igR)
{
essol=et =i5;                /* minimuxei/aenndty variatoalPink=ilPinttow */
essbt.w =i3;                 /* GIelf of inttow  */
essbt.max1,imin1,imax2,imin2;
SS, REi, jiT &T &/* Ib;
iavly5], clshatallcpixels tofbe NOT i/aenndty gradifols */
ess)f))b =i0 ; i Smax1)RSSmax1 =iimgL[GIelf**/plf*scan__le+j**/plf];
sRSSs
icicsn (max1 -.min1 >=ithi0; ii ino_igL[i]E= 0;
sR}T &T &/* Fntt i/aenndty gradifols )n ase relf. scan__le */
ess)f))b =iw - 1 ; i Smax2)RSSmax2 =iimgR[GIelf**/plf*scan__le+j**/plf];
sRSSs
icicsn (max2 -.min2 >=ithi0; ii ino_igR[i]E= 0;
sR}T &TastttttUSE_SYMMETRIC_GRADIENTST &T &/* Shift Geft scan__le tofase relf. */
ess)f))b =iwielf -.1 ; i >=i2 ; i--- i{
sRSSno_igL[i]E= NO_IG_PEN *](no_igL[i-1] &&Sno_igL[i-2]);
sR}T &T &/* Shift relf. scan__le tofase Geft */
ess)f))b =i0 ; i =i1 ; i--- i{
sRSSno_igL[i]E= no_igL[i-1];
sR}T &T &/* Shift relf. scan__le tofase Geft */
ess)f))b =i0 ; i =i1 ; i--- i{
sRSSno_igL[i]E= no_igL[i-1];
sR}T &T &/* Shift relf. scan__le tofase Geft */
ess)f))b =i0 ; i =i1 ; i--- i{
sRSSno_igL[i]E= no_igL[i-1];
sR}T &T &/* Shift relf. scan__le tofase Geft */
ess)f))b =i0 ; i =iqmin- i{i
	  sn (p0 <=iqmax)i
	    minn =i0;
	esDGEF
	    minn =ip0 -iqmax;
	}
	DGEFIILT	r minn =iqmin8-ip0;
	}
	sn (minn > 0)iILT	  sn (q0 >=ipmin- i{
	    sn (q0 <=ipmax)i
	      minn =i0;
	esesDGEF
	      minn =imin(minn,iq08-ipmax);
	es}
	esDGEF
	    minn =imin(minn,ipmin8-iq0 p]	}
	
	dis[(g_maxdisp + 1)*y+U pha] =iminn;
sRSSess
icics]esT#else
es
esunad *VIDshorREitt y, U pha;T &T &s)f))y8=s0 ; y    =pie_d8tables. */
/* */
/* flag: 0 meas84each scan__le itttpchaent */
/*  .....1 meas84use phi8table)in scan__le above */
/*  .....2 meas8, iieadditoal tof1, U so ussp  etIrvalues.iie*/
/*  ...... phi8table)in scan__le below. */
#A. r S][yeo::conductDPBackward(, REscan__le,
			cicicics RE*phi,
			cicicics RE*pie_y,
			cicicics RE*pie_d,
			cicicics RE*dis,
			cicicics RE*no_igL,
			cicicics RE*no_igR,
			cicicics REflag,
			cicicics REscan__le_in][yes.)
{
essol=y, deltaa;                   /* etIrmatch tollowsp  (y_p, delta_p) */
essbt.y_p, delta_p;                /* etIrkurtfol=match */
essbt.phi_new,.phi_bes.;
sRitt pie_y_bes.n= 0,&pie_d_bes.n= 0;: &/* .... p)trol)"S.artsp ... %F picsflush(std AN); */
es
ics)f))delta_pn= 0 ; delta_pn<=ig_maxdisp ; delta_p++- i{
sRSSphi[(GIelf+g_slop)*scan__le+(g_maxdisp + 1)*0+delta_p] =iDEFAULT_COST + dis[(GIelf+g_slop)*scan__le+(g_maxdisp + 1)*0+delta_p];, & &pie_y[(GIelf+g_slop)*scan__le+(g_maxdisp + 1)*0+delta_p] =iFIRST_MATCH;, & &pie_d[(GIelf+g_slop)*scan__le+(g_maxdisp + 1)*0+delta_p] =iFIRST_MATCH;, &}T &T &s)f))y8=s1 ; y =0)i{
	  sn (deltaa==delta_p ||
	      (deltaa>delta_p && !no_igL[(GIelf+g_slop)*scan__le+y+deltaa-1]) ||
	      (deltaa0 && scan__le>0)i{
	    . s REs =iphi[(GIelf+g_slop)*scan__le+(g_maxdisp + 1)*y_p+delta_p] +
		phi[(GIelf+g_slop)*(scan__le-1)+(g_maxdisp + 1)*y+deltaa];l	    . sn (scan__le==scan__le_in][yes. && y==12)i{
		p)trol)"## s=%d %Fics);l	    . }l	    . /*  ......             s REsG= 2; */
	    . sn (0 && deltaa>delta_p)i{
		sbt.yy8=sy_p+1;l		wh
vos(yy+delta_p=GIelf+g_slop) p)trol)"****yy=%d %Ficyy);l		  assert(yy>=0 && yy=0 && delta_p<=g_maxdisp);l		  s +=iphi[(GIelf+g_slop)*(scan__le-1)+(g_maxdisp + 1)*yy+delta_p];,		  /*  ......                  n++; */
		  yy++;,		}l	    . shDGEFIsn (0 && deltaa=0 && yy=0 && delta_p<=g_maxdisp);l		  s +=iphi[(GIelf+g_slop)*(scan__le-1)+(g_maxdisp + 1)*yy+deltaa];,		  /* n++; */
		  yy++;,		}  ......                  s
icic           s
		/*  ......             wh
vos(d0- T
icics)f))y=0 ; y   =pie_d8tables. */
#A. r S][yeo::conductDPFas][y(, REscan__le,
			cicics RE*phi,
			cicics RE*pie_y,
			cicics RE*pie_d,
			cicics RE*dis,
			cicics RE*no_igL,
			cicics RE*no_igR,
			cicics REflag)
{
essol=y, deltaa;                   /* etIrmatch tollowsp  (y_p, delta_p) */
essbt.y_p, delta_p;                /* etIrkurtfol=match */
essbt.ymsp;     /* unanetoNprule badSnodes */
essbt.phi_newiT &T &/* Ib;
iavoze=arrays */
ess)f))y_pn= 1 ; y_pn=ix1 ; x--- i{
sRSSdmsparity_map[GIelf*scan__le+x] = deltaa1;, & &d pte_diskNut_lnities[GIelf*scan__le+x] = NO_DISCONTINUITY;, &}T &T &wh
vos(y2n!= FIRST_MATCH- i{
sRSSsn (deltaa1n== deltaa2)ii{
sRSSesdmsparity_map[GIelf*scan__le+x2] = deltaa2;lesssssd pte_diskNut_lnities[GIelf*scan__le+x2] = NO_DISCONTINUITY;, &SSs
icicDGEFIsn (deltaa2 > deltaa1)ii{
sRSSesdmsparity_map[GIelf*scan__le+x2] = deltaa2;lesssssd pte_diskNut_lnities[GIelf*scan__le+x2] = DISCONTINUITY;, &SSs
icicDGEFI{
sRSSesdmsparity_map[GIelf*scan__le+x1 -.1] = deltaa2;lesssssd pte_diskNut_lnities[GIelf*scan__le+x1 -.1] = DISCONTINUITY;, &SS &s)f))x =ix1 -.2 ; x >=ix2 ; x--- i{
	dmsparity_map[GIelf*scan__le+x] = deltaa2;l	d pte_diskNut_lnities[GIelf*scan__le+x] = NO_DISCONTINUITY;, & &SSs
icics
icicy1 = y2;                 deltaa1 = deltaa2;             x1 =iy1 + deltaa1;, & &y2 = pie_y[(g_maxdisp + 1)*y1+deltaa1]itdeltaa2 = pie_d[(g_maxdisp + 1)*y1+deltaa1]itx2 =iy2 + deltaa2iT &}T &T &s)f))x =iy1 + deltaa1 -.1 ; x >=i0 ; x--- i{
sRSSdmsparity_map[GIelf*scan__le+x] = deltaa1;, & &d pte_diskNut_lnities[GIelf*scan__le+x] = NO_DISCONTINUITY;, &}T}

/********************************************************************* */
/* */
#A. r S][yeo::eatchScan__les(unad *VIDEO_DE*imgL,
			icicunad *VIDEO_DE*imgR,
			icicunad *VIDEO_DE*dmsparity_map,
			ciciunad *VIDEO_DE*d pte_diskNut_lnities) 
{
essol=scan__le;                         /* etIrkurtfol=scan__len*/
essbt.y, deltaa;                        /* etIrmatch tollowsp  (y_p, delta_p) */
essbt.y_p, delta_p;                     /* etIrkurtfol=match */
essbt.ymsp;          /* unanetoNprule badSnodes */
essbt.phi_newiT &sol=phi_bes.n= 0,&pie_y_bes.n= 0,&pie_d_bes.n= 0;:
essn (DEBUG)cs)trol)"Parameters:  occ=%d,irew=%d %FicgetOcn  200)iIsn (DEBUG)cs)trol)"     scan__len%d %Ficscan__le);
sRSS
sRSS/* Fill8tables */
esicsillDisssmilarityTablewimgL, imgR,Sdmsicscan__le);
sRSSs)f))bbt.b =i0; i =0)i{
            sn (deltaa==delta_p ||
                (deltaa>delta_p && !no_igL[y+deltaa-1]) ||
                (deltaa   =pie8tables. */
esss/* It)i84only  in    =its */
esss/* results shatunanebySnor ne. */
SSss
eses{
sRSSess REsum_eatches;
sRSSess REtmp_y,>tmp_d;
sRSSess REzzn= 0;:
esSSesy_pn= pie_y_bes.;
esic  delta_pn= pie_d_bes.;
esicSSwh
vos(y_pn!= FIRST_MATCH && delta_pn!= FIRST_MATCH- i{
sRSSSSSSeatches[(GIelf)*0+zz]n= y_p + delta_p;
sRSSSSSSeatches[(GIelf)1+zz]n= y_p;
sRSSSSSStmp_y = pie_y[(g_maxdisp + 1)*y_p+delta_p];
sRSSSSSStmp_d = pie_d[(g_maxdisp + 1)*y_p+delta_p];
sRSSSSSSy_pn= tmp_y;
sRSSSSSSdelta_pn= tmp_d;
sRSSes Ezz++;,esicSSs
icic Esum_eatchesn= y;
esics]
chad l/******** */
SSss
esessn (DEBUG)cs)trol)"Compuae4dmsparity=map    =*/plf diskNut_lnities %F p]es  {
sRSSess REx, x1,ix2,iy1,iy2, deltaa1, deltaa2iT &SSss
eses &y1 = pie_y_bes.;icic     deltaa1 = pie_d_bes.;icic     x1 =iy1 + deltaa1;, &es &y2 = pie_y[(g_maxdisp + 1)*y1+deltaa1]itdeltaa2 = pie_d[(g_maxdisp + 1)*y1+deltaa1]itx2 =iy2 + deltaa2iT &SSss
eses &s)f))x =iwielf -.1 ; x >=ix1 ; x--- i{
sRSS    dmsparity_map[(GIelf)*scan__le+x] = deltaa1;, & &    depte_diskNut_lnities[(GIelf)*scan__le+x] = NO_DISCONTINUITY;, & &SSs
icicss
eses &wh
vos(y2n!= FIRST_MATCH- i{
sRSSesessn (deltaa1 == deltaa2)ii{
sRSSes    dmsparity_map[(GIelf)*scan__le+x2] = deltaa2;lesssss    depte_diskNut_lnities[(GIelf)*scan__le+x2] = NO_DISCONTINUITY;, &SS &SSs
icicssicDGEFIsn (deltaa2 > deltaa1)ii{
sRSSes    dmsparity_map[(GIelf)*scan__le+x2] = deltaa2;lesssss    depte_diskNut_lnities[(GIelf)*scan__le+x2] = DISCONTINUITY;, &SS &SSs
icicssicDGEFI{
sRSSes    dmsparity_map[(GIelf)*scan__le+x1 -.1] = deltaa2;lesssss    depte_diskNut_lnities[(GIelf)*scan__le+x1 -.1] = DISCONTINUITY;, &SS &es &s)f))x =ix1 -.2 ; x >=ix2 ; x--- i{
  sRSSes    dmsparity_map[(GIelf)*scan__le+x] = deltaa2;lesssss      depte_diskNut_lnities[(GIelf)*scan__le+x] = NO_DISCONTINUITY;, & &SS &SSs
icicssics
icicssicy1 = y2;                 deltaa1 = deltaa2;            x1 =iy1 + deltaa1;, &es & &y2 = pie_y[(g_maxdisp + 1)*y1+deltaa1]itdeltaa2 = pie_d[(g_maxdisp + 1)*y1+deltaa1]itx2 =iy2 + deltaa2iT &SSss}
icic  
icic  s)f))x =iy1 + deltaa1 -.1 ; x >=i0 ; x--- i{
sRSS    dmsparity_map[(GIelf)*scan__le+x] = deltaa1;, & &    depte_diskNut_lnities[(GIelf)*scan__le+x] = NO_DISCONTINUITY;, & &SSs
icic}, &}es/* etts)f)--=scan__len*/
essn (DEBUG)cs)trol)"cha eatchScan__les %F p]}u#A. r S][yeo::p)tro_phi(s RE*phi,
		& &    , REscan__le,
		& &    , REy0,
		& &    , REy1,
		& &    , REd0,
		& &    , REd1)
{
esssbt.y, d;, & 
esssn (y0<0)iIy0=0;: &ssn (y0>=GIelf)Iy0=GIelf-1;: &ssn (y1=GIelf)Iy1=GIelf-1;: &ssn (d0<0)iId0=0;: &ssn (d0>g_maxdisp)iId0=g_maxdisp;
icisn (d1g_maxdisp)iId1=g_maxdisp;
icisn (scan__le<0)iscan__le=0;
icisn (scan__le>=hIelf.Miscan__le=hIelf.-1;,
escs)trol)"\n(PRINT_PHI) %F p]es sflush(std AN);
escs)trol)"\nSCANLINE %3d %Ficscan__le);
sRSs)trol)"Disp: F p]es s)f))d=d0 ; d<=d1 ; d++- {
sRSSess)trol)"%3d Ficd p]es }
escs)trol)"\n----------------------------------- %F p]es s)f))y=y0 ; y<=y1 ; y++- {
sRSSess)trol)"%3d: Ficy p
icic  s)f))d=d0 ; d<=d1 ; d++- {
sRSSesSess)trol)"%3d Ficphi[(GIelf+g_slop)*scan__le +(g_maxdisp + 1)*y+d]);
sRSS  }
icic  s)trol)"\n" p]es }
}u#
/********************************************************************* */
/* p)tro_dis */
/* */
#A. r S][yeo::p)tro_dis(s RE*dis,
               , REscan__le,
               , REy0,
               , REy1,
               , REd0,
               , REd1)
{
esssbt.y, d;, & 
esssn (y0<0)iIy0=0;: &ssn (y0>=GIelf)Iy0=GIelf-1;: &ssn (y1=GIelf)Iy1=GIelf-1;: &ssn (d0<0)iId0=0;: &ssn (d0>g_maxdisp)iId0=g_maxdisp;
icisn (d1g_maxdisp)iId1=g_maxdisp;
icisn (scan__le<0)iscan__le=0;
icisn (scan__le>=hIelf.Miscan__le=hIelf.-1;,
escs)trol)"\n(PRINT_DIS) %F p]es s)trol)"\nSCANLINE %3d %Ficscan__le);
sRSs)trol)"Disp: F p]es s)f))d=d0 ; d<=d1 ; d++- {
sRSSess)trol)"%3d Ficd p]es }
escs)trol)"\n----------------------------------- %F p]es s)f))y=y0 ; y<=y1 ; y++- {
sRSSess)trol)"%3d: Ficy p
icic  s)f))d=d0 ; d<=d1 ; d++- {
sRSSesSess)trol)"%3d Ficdis[(GIelf+g_slop)*scan__le+(g_maxdisp + 1)*y+d]);
sRSS  }
icic  s)trol)"\n" p]es }
}u#/********************************************************************* */
/* postprocess_column.c */
/* */
/* Postprocesse84etIrdisparity=map ussp  etIrcolumn-GIse method. */
/********************************************************************* */
#A. r S][yeo::setReliabluTpthshold(s REthi0{
essn (th < 0)iILT &ics)trol)"R liabluotpthshold m10ibe.nNun)gative.  Settinextofzero." p]esRStf =i0;
  }
icth_reliabluo= lf;]}u#A. r S][yeo::setA pha(double)ai0{
essn (a < 0)iILT &ics)trol)"A pha m10ibe.nNun)gative.  Settinextofzero." p]esRSa =i0;
  }
icU phan= a;]}u#A. r S][yeo::setMaxAttractdaiTpthshold(s REthi0{
essn (th < 0)iILT &ics)trol)"Max-attractdaietpthshold m10ibe.nNun)gative.  Settinextofzero." p]esRStf =i0;
  }
icth_max_attractdaie= lf;]}u#ibt.S][yeo::getR liabluTpthshold(A. r)
{
esr {
esGth_reliablu;]}u#double)S][yeo::getA pha(A. r)
{
esr {
esGU pha;T}u#ibt.S][yeo::getMaxAttractdaiTpthshold(A. r)
{
esr {
esGth_max_attractdaip]}

/********************************************************************* */
/* multiplay_unad *VIDEO_D_eat_by_scalar=*/
#A. r S][yeo::cO_D_eat_by_scalar(unad *VIDEO_DE*eat_in,iunad *VIDEO_DE*eat_ AN, , REscalar)
{
esunad *VIDEO_DE*pb =ieat_in;
esunad *VIDEO_DE*po =ieat_ AN;
es, REval;
es, REi;
es
SSs)f))b=mIelf.*GIelf ; i>0 ; i--- LT &icval =i*pb++ *Escalar;T &icval =imax(val, 0);T &icval =imin(val, 255);T &ic*po++ = (unad *VIDEO_D)Eval;
es}
}u#
A. r S][yeo::ceil_utro_eat(unad *VIDs RE*eat_in,iunad *VIDEO_DE*eat_ AN)
{
esunad *VIDs RE*pi =ieat_in;
esunad *VIDEO_DE*po =ieat_ AN;
es, REval;
es, REi;
es
SSs)f))b=mIelf.*GIelf ; i>0 ; i--- LT &icval =i*pb++;T &icval =imax(val, 0);T &icval =imin(val, 255);T &ic*po++ = (unad *VIDEO_D)Eval;
es}
}u#A. r S][yeo::ceil_tro_eat(s RE*eat_in,iunad *VIDEO_DE*eat_ AN)
{
ess RE*pi =ieat_in;
esunad *VIDEO_DE*po =ieat_ AN;
es, REval;
es, REi;
es
SSs)f))b=mIelf.*GIelf ; i>0 ; i--- LT &icval =i*pb++;T &icval =imax(val, 0);T &icval =imin(val, 255);T &ic*po++ = (unad *VIDEO_D)Eval;
es}
}u#A. r S][yeo::logical_or_eat(unad *VIDEO_DE*eat1,iunad *VIDEO_DE*eat2,iunad *VIDEO_DE*eato)
{
esunad *VIDEO_DE*pr1 =ieat1;
esunad *VIDEO_DE*pr2 =ieat2;
esunad *VIDEO_DE*pro =ieato;
es, REi;
es
SSs)f))b=0 ; iSmaxx)Sesmaxx =iimgL[(GIelf**/plf)*i+k**/plf];
      sl    . sn (maxx -.minn8>=ithi0; ii i  s)f))k8=sj ; k Smaxx)Sesmaxx =iimgL[(GIelf**/plf)*k+j**/plf];
sRSSessl    . sn (maxx -.minn8>=ithi0; ii i  s)f))k8=si ; k =i0 ; i--- i{
sRSS  sn (igy[(GIelf)*i+j])SSkurt_dist = 0;
sR    DGEFIIkurt_dist++;,esicSSsn (kurt_dist < -1 * ,gyd[(GIelf)*i+j]) ,gyd[(GIelf)*i+j]E= kurt_dist;
esics
ic}, &T}u#
/********************************************************************* */
/* compuae_igxd */
/*  */
/* Given ,gx8(ase booleas=map of i/aenndty gradifols )n the) */
/* x dir))toal), compuae84igxd (ase i/aeger=map of distances.tofig's). */
/*nI/aerpr {atoal:es,gxd =i0 meas84pixelDss ig )n x-dir))toalP*/
/*  ......           "   = d meas84leares.nig )s drpixels tofase relf. */
/*                   "   = -d   "     "     "       "     tofase Geft  */
/*  .......................(dNi84pondtive)P*/
/********************************************************************* */
#A. r S][yeo::compuae_igxdwunad *VIDEO_DE*igx, , RE*igxd)
{
essol=i, j, kurt_dist;
es
SSs)f))b =i0 ; i =i0 ; j--- i{
sRSS  sn (igx[(GIelf)*i+j])SSkurt_dist = 0;
sR    DGEFIIkurt_dist++;,esicSSsn (kurt_dist < -1 * ,gxd[(GIelf)*i+j]) ,gxd[(GIelf)*i+j]E= kurt_dist;
esics
ic},}u#
/********************************************************************* */
/* compuaeR liabilitiesY */
/*  */
/* Labels each pixelDink==its "r liability".  R liability of a pixelDP */
/* i84difn_(d as etIrnumber of pixels )n P's regoal, where ase regoal is */
/* etIrcontiguous set of pixels ()n the)y dir))toal)Dink==the)samen */
/* *isparity=as P. */
/********************************************************************* */
#A. r S][yeo::compuaeR liabilitiesYwunad *VIDEO_DE**isp_map,sunad *VIDs RE*r liability_map)
{
essol=i, j, k, kurt_disp, kurt_lenglf;]es
SSs)f))j =i0 ; j =iheelf.- ibreak;,esicSSkurt_disp = *isp_map[(GIelf)*i+j];]essssssn (jE== kol_in][yes.)c 
sRSSesSes)trol)"top ss i = %d,ikurt_disp = %d %Fici,ikurt_disp);
sRSS  TastttttHANDLE_NEARLY_HORIZONTAL_BORDERS
icic  /* Unless ig j10ibelow, ... */
es    sn (!(i > 0 && (r liability_map[(GIelf)*(i - 1)+j] >=ith_slelf.ly_reliablu-
          && ,gyd[(GIelf)*(i - 1)+j] > 0 && ,gyd[(GIelf)*(i - 1)+j] <=.max_attractdai))]
chad lesic  /* exp   =regoal upward */
sRSSicics)f))k8=si -.1 ;
             k >=i0
               && !sgy[(GIelf)*k+j]
               && (r liability_map[(GIelf)*k+j] = kurt_disp + 2]
chad lesic               ) ;
             k-- ) i{
          sn (jE== kol_in][yes.)c 
sRSSesSeeeees)trol)"prop up at=[%d][%d] ink==disp = %d %Fic k, j,ikurt_disp);
sRSS      *isp_map[(GIelf)*k+j]E= kurt_disp;
esssssssssr liability_map[(GIelf)*k+j]E= th_moderately_reliablu;
essssssss
icicTicic  /* Find bottom of stabluoregoal */
es    s)f))k8=si +.1 ;
           k =iheelf.- ibreak;,esic]essssssn (jE== kol_in][yes.)c 
sRSSesSes)trol)"bottom ss i = %d,ik = %d,ikurt_disp = %d %Fici,ik,ikurt_disp);
sRSSTastttttHANDLE_NEARLY_HORIZONTAL_BORDERS
icic  /* Unless ig j10iabove, ... */
es    sn (i =ith_slelf.ly_reliablu-
          && ,gyd[(GIelf)*(i + 1)+j] < 0 && -1 * ,gyd[(GIelf)*(i + 1)+j] <=.max_attractdai)i{
      }
icic  else

chad lesic  {
        /* exp   =regoal townward */
sRSSsssssn (j==col_in][yes.)cp)trol)"** k=%3d,ikurt_disp=%2d %Fick,ikurt_disp);
sRSSesic]esssss  s)f)) ;
              k = kurt_disp + 2]
chad lesic                ) ;
              k++ ) i{
          *isp_map[(GIelf)*k+j]E= kurt_disp;
esssssssssr liability_map[(GIelf)*k+j]E= th_moderately_reliablu;
essssssssssn (jE== kol_in][yes.)c
sRSSesSeeeees)trol)"  propagatinextownDs Ro=[%d][%d] ink==disp = %d %Ficlesic               k, j,ikurt_disp);
sRSS    s
icicssics8=sk;
sRSS  }s/* ettDGEFI*/
eses}es/* ettwh
vosi */
es}es/* etts)f)j */
}u u#/********************************************************************* */
/* propagateX */
/*  */
/* Samenas propagateY, except )n ase x dir))toal. */
#A. r S][yeo::propagateXwunad *VIDEO_DE**isp_map,sunad *VIDEO_DE*igx, , REth_moderately_reliablu, , REth_slelf.ly_reliablu, unad *VIDs RE*r liability_map, , RE*igxd,ssbt.max_attractdai)
{
essol=i, j, k, kurt_disp;

SSs)f))b =i0 ; i =iwielf- ibreak;,esicSSkurt_disp = *isp_map[(GIelf)*i+j];]essssssn (iE== kol_in][yes.)c 
sRSSesSees)trol)"Geft is j = %d,ikurt_disp = %d %Ficj,ikurt_disp);
TastttttHANDLE_NEARLY_HORIZONTAL_BORDERS
icic  /* Unless ig j10itofase relf., ... */
es    sn (!(j > 0 && (r liability_map[(GIelf)*i+j -.1] >=ith_slelf.ly_reliablu-
          && ,gxd[(GIelf)*i+j -.1] > 0 && ,gxd[(GIelf)*i+j -.1] <=.max_attractdai))]
chad lesic    /* exp   =regoal Geftward */
sRSSic  s)f))k8=sj - 1 ;
             k >=i0
             && !sgx[(GIelf)*i+k]]	r   .  && (r liability_map[(GIelf)*i+k] = kurt_disp + 2]
chad lesic             ) ;
             k-- ) i{
          sssn (iE== kol_in][yes.)c 
sRSSesSeeeeeeees)trol)"prop Geft at=[%d][%d] ink==disp = %d %Fic i,ik,ikurt_disp);
sRSSSSSSSSSS*isp_map[(GIelf)*i+k]E= kurt_disp;
esssssssss  r liability_map[(GIelf)*i+k]E= th_moderately_reliablu;
essssssss

sRSS  /* Find relf. of stabluoregoal */
es    s)f))k8=sj +.1 ;
           k =iwielf- ibreak;,]essssssn (iE== kol_in][yes.)c 
sRSSesSees)trol)"relf. is j = %d,ik = %d,ikurt_disp = %d %Ficj,ik,ikurt_disp);
TastttttHANDLE_NEARLY_HORIZONTAL_BORDERS
icic  /* Unless ig j10itofase Geft, ... */
es    sn (j =ith_slelf.ly_reliablu-
          && ,gxd[(GIelf)*i+j +.1] < 0 && -1 * ,gxd[(GIelf)*i+j +.1] <=.max_attractdai)i{
      }
icic  else

chad lesic  {
        /* exp   =regoal relf.ward */
sRSS    s)f)) ;
              k = kurt_disp + 2]
chad lesic                ) ;
              k++ ) i{
          *isp_map[(GIelf)*i+k]E= kurt_disp;
esssssssssr liability_map[(GIelf)*i+k]E= th_moderately_reliablu;
essssssssssn (iE== kol_in][yes.)c
sRSSesSeeeees)trol)"  propagatinexrelf. i Ro=[%d][%d] ink==disp = %d %Ficlesic               i,ik,ikurt_disp);
sRSSSSSSs
icicssicj8=sk;
sRSS  }
eses}es/* ettwh
vosj */
es}e/* etts)f)i */
}uu#/********************************************************************* */
/* removeIsolatedPixelsX */
/*  */
/* Given a binary=map, removes isolated 1's )n ase x dir))toal. */
/* */
/*nINPUTS */
/*narray:  binary=array */
/*nlel:essmalles.n# of 1's etat)ss allowanetoNremail. */
/*       F)f)examplu, ,fnlel =i3, thenn*/
/*  ........0000011000011100000 becomesn*/
/*  ........0000000000011100000. */
/* */
/*nOUTPUTS */
/*narray)ss EO_nged */
/********************************************************************* */
#A. r S][yeo::removeIsolatedPixelsXwunad *VIDEO_DE*array,ssbt.lel)
{
essol=i, j, k, kurt_lel;

SSs)f))b =i0 ; i 0).maxx +=inilt[disp-1];n*/
/*  ....sn (*ispSmaxx)Se{
          maxx =inilt[k];l          mode = k;l        sl    . snertia =inilt[disp];]  ....sn (*isp>0).snertia +=inilt[disp-1];]  ....sn (*ispsnertia- {
sRSSesSearray[(GIelf)*i+j]E= mode;
es    scDGEFI{
sRSSes  mode = disp;
esssssssmaxx =inilt[disp];]        sn (*isp>0 && hilt[disp-1]>maxx)S{
          maxx =inilt[disp-1];]  ....es  mode = disp-1;l        sl    . ..sn (*ispmaxx)S{
          mode = disp+1;l        sl    . ..array[(GIelf)*i+j]E= mode;
es    s
sR  }
}u#
/********************************************************************* */
/* modefil][yX */
/*  */
/* Samenas modefil][yY, but )n ase x dir))toal. */
/********************************************************************* */
#A. r S][yeo::modefil][yXwunad *VIDEO_DE*array,ssbt.w)
{
essol=i, j, k, maxx,=mode;
essol=hw =iw / 2;          /* fil][yihalf-GIelf */
essbt.disp;
essol=inertia;:
essn (w % 2n== 0-
    s)trol)"modefil][yX:  fil][yiGIelf m10ibe.odd\n" p]
SSs)f))b =i0 ; i 0).maxx +=inilt[disp-1];n*/
/*  ....sn (*ispSmaxx)Se{
          maxx =inilt[k];l          mode = k;l        sl    . snertia =inilt[disp];]  ....sn (*isp>0).snertia +=inilt[disp-1];]  ....sn (*ispsnertia- {
sRSSesSearray[(GIelf)*i+j]E= mode;
es    scDGEFI{
sRSSes  mode = disp;
esssssssmaxx =inilt[disp];]        sn (*isp>0 && hilt[disp-1]>maxx)S{
          maxx =inilt[disp-1];]  ....es  mode = disp-1;l        sl    . ..sn (*ispmaxx)S{
          mode = disp+1;l        sl    . ..array[(GIelf)*i+j]E= mode;
es    s
sR  }
}u#
/********************************************************************* */
/* compuaeD/plfDiskNut_lnities */
/*  */
/* Given a *isparity=map, compuae84etIrd/plf diskNut_lnities as etose) */
/* pixels ttat)border a EO_nge )n *isparity=of at=Gea10itwo levels5] */
/*na  =asat=Gie on4etIrbackgtouha.  (Tnilolat][yikNuditoal is necessary=*/
/* toNpreven0itwo neelfborinexpixels tIexebolf beinext clshadn */
/* *iskNut_lnities.)P*/
/********************************************************************* */
#A. r S][yeo::compuaeD/plfDiskNut_lnitieswunad *VIDEO_DE**isp_map,sunad *VIDEO_DE*dd_map)
{
essol=i, j;

SSs)f))b =i1 ; i  th_moderately_reliablu)-
    s)trol)"postprocess:  R liability tpthsholds do not obey=monotonicity." p]essn (row_in][yes.0 < 0 || row_in][yes.0 >=iheelf. ||, & &SSrow_in][yes.1 < 0 || row_in][yes.1 >=iheelf.-
 &SSrow_in][yes.1 = row_in][yes.0 -.1;]
 &/* Copy original disparity=map to new disparity=map */
esmemcpy(wunad *VIDEO_DE*) *isp_map,swunad *VIDEO_DE*) *m_orig, mIelf.*GIelf);]
 &/* Remove "obvious errors" )n ase disparity=map */
escoerceSurtouhaeIPixelsYw*isp_map);]
 &/* Compuae i/aenndty gradifols */
escompuae_igxywimgL, igx, ,gy);]
 &/* Remove "isolated" i/aenndty gradifols )n the)y dir))toals*/
esremoveIsolatedPixelsXwigy, 3);]
 &/* Propagate reliabluoregoals i  the)y dir))toals*/
escompuae_igydwigy, ,gyd);
escompuaeR liabilitiesYw*isp_map,sr liability_map);
espropagateYw*isp_map,sigy, th_moderately_reliablu, th_slelf.ly_reliablu,
           ssr liability_map, ,gydicth_max_attractdai);T
 &/* Remove "isolated" i/aenndty gradifols )n the)x dir))toals*/
esremoveIsolatedPixelsY(igx, 3);]
 &/* Propagate reliabluoregoals i  the)x dir))toals*/
escompuae_igxdwigx, ,gxd);
escompuaeR liabilitiesXw*isp_map,sr liability_map);
espropagateXw*isp_map,sigx, th_moderately_reliablu, th_slelf.ly_reliablu,
           ssr liability_map, ,gxdicth_max_attractdai);T
 &/* Mode fil][y ase disparity=map */
esmodefil][yYw*isp_map,s11);
esmodefil][yXw*isp_map,s11);

  /* Find ttIrd/plf diskNut_lnities tIexease disparity=map */
escompuaeD/plfDiskNut_lnitiesw*isp_map,s*d_map);
}upyrobot/camera/s][yeo/S][yeo.h0100755000076400003100000001341010417063704016403 0ust_DE dblankfacultyastntttt__STEREO_H__
#difn_(t__STEREO_H__
Tasin Tasin Tasin Tasin T
#difn_(tDEBUG 0T
#difn_(tFIRST_MATCH 	65535]  /* symbolSs)f)first match */
#difn_(tDEFAULT_COST  	  600]  /* preven0s costs tIexebecomsp  n)gative */
#difn_(tNO_IG_PEN  ss	 1000]  /* penalty=s)f deplf diskNut_lnity .*/
                                /* ink=out i/aenndty gradifol */
#difn_(tINF              65535
#difn_(tDISCONTINUITY      255]  /* symbolSs)f)a deplf diskNut_lnity */
#difn_(tNO_DISCONTINUITY     0]  /* symbolSs)f)no deplf diskNut_lnity */

#difn_(tmax(a,b)	((a) > (b) ? (a) : (b))
#difn_(tmin(a,b)	((a) < (b) ? (a) : (b))
#difn_(tmax3(a,b,c)	((a) > (b) ? max((a),(c)) : max((b),(c)))
#difn_(tmin3(a,b,c)	((a) < (b) ? min((a),(c)) : min((b),(c)))
#difn_(tabs(x) ((x) > 0 ? (x) : -(x))

/* Special optoals s)f)comparinexouf)algorithm ink==other possibilities. */
/* F)f)ouf)algorithm,=Geave=them all)commfoled. */
/*n#difn_(tUSE_ABSOLUTE_DIFFERENCE */
/*n#difn_(tUSE_SYMMETRIC_GRADIENTS */
/*n#difn_(tUSE_HYPOTHETICAL_GRADIENTS */
/*n#difn_(tBACKWARD_LOOKING */
#class S][yeo : public Devicei{

spublic:
esunad *VIDEO_DE*Geftimage;
esunad *VIDEO_DE*relf.image;
essbt.leftGIelf;
essbt.leftmIelf.;
essbt.leftdeplf;
essbt.relf.wIelf;
essbt.relf.mIelf.;
essbt.relf.deplf;

esS][yeo(A. rE*Geft, A. rE*relf.);
esPyObj))te*updateMMap();

 s)tvate:
esunad *VIDEO_DE*disparity_map1;
esunad *VIDEO_DE*disparity_map2;
esunad *VIDEO_DE*depte_diskNut_lnities1;
esunad *VIDEO_DE*depte_diskNut_lnities2;
esunad *VIDshort , RE*himgL, *himgR;
esunad *VIDshort , RE*dimgL, *dimgR;

essbt.*newdis,E*phi,i*pbe_y,>*pbe_d,E*dis,.*no_igL,.*no_igRiclesic*xmin,i*q_no_igL,.*q_no_igRic*eatches;

  /* Thesenvalues shatmultiplienebyStwo becausenof fillDissimilarityTablu() */
essbt.occ_pen;	
essbt.reward;
essbt.g_maxdisp; // maximuxedisparity
essbt.g_slop;  /* exp   =arrays so we don't have=to keep checkinexwhether i d/x is too large */

  /* If s)troinexof details durinexpropagatoal i84disir)d,Eset tnilovariabluo*/
es/* toNetIrcolumn i  which you shatin][yes.ed.  OtherGIse,Eset i0itofa o*/
es/* n)gative value. */
essbt.kol_in][yes.;
essbt.row_in][yes.0,Srow_in][yes.1;

  /* Ththsholds s)f)r liability */
essbt.th_reliablu;]  double)a pha;Tessbt.th_moderately_reliablu;
es, REth_slelf.ly_reliablu;

  /* Ththshold s)f)max distanceSs)f)ald *inexwnk==gradifol tofh   le o*/
es/* n)arly horizNutal bouhaaries */
essbt.th_max_attractdaip]
esunad *VIDs RE*r liability_map;       /* r liabilities of pixels */
esunad *VIDEO_DE*igx, *igy; /* i/aenndty gradifols */
es, RE*igyd,s*igxd; /* distanceSto neares.ngradifol */
  , RE*his.;   /* his.ogram */

  A. rEsetOcn  (b) ? (a) : (b))
#difn_(tmin(a,b)	((a) < (b) ? (a) : (b))
#difn_(tmax3(a,b,c)	((a) > (b) ? max((a),(c)) : max((b),(c)))
#difn_(tmin3(a,b,c)	((a) < (b) ? min((a),(c)) : min((b),(c)))

Tachad 

Tpyrobot/camera/s][yeo/error.c0100644000076400003100000000310510406543751016266 0ust_DE dblankfaculty/*********************************************************************
/*nerror.c
/*
/*nErrorna  =war*inexmessages,na  =sys][m)comma  s.
/*********************************************************************
*/

T
Tasin 
Tasin 
Tasin 
T
Tasin 
Tasin 
T
TA. rEerror(EO_DE*fmt, ...);
TA. rEwar*ine(EO_DE*fmt, ...);
TA. rEcomma  (EO_DE*fmt, ...);

Tachad 
pyrobot/camera/s][yeo/eatch_scan__les.c0100644000076400003100000012163110406543751020275 0ust_DE dblankfaculty/********************************************************************* */
/*neatch_scan__les.c */
/*n*/
/*nImplemfols4etIr``Fas][y Algorithm'', which eatchesStwo scan__les */
/*nussp  dynamocDprogrammine,iwnk==pru*ine.  D/plf diskNut_lnities */
/*nshatrequir)dSto be)ald *)dSwnk==i/aenndty gradifols, which allows */
/*nase algorithm tofh   le large u/aextur)dSregoals. */
/********************************************************************* */

Tasin 
Tasin 
Tasin 
Tasin 
Tasin Smax1)   max1E= imgL[g_cols*scan__le+j];
      }
      sn (max1 -.min1E>=ith)
         no_igL[i]E= 0;
   }

T   /* Find i/aenndty gradifols s  tneorelf. scan__le */
   s)f))b =iw -.1 ; i Smax2)   max2E= imgR[g_cols*scan__le+j];
      }
      sn (max2 -.min2E>=ith)
         no_igR[i]E= 0;
   }

TastttttUSE_SYMMETRIC_GRADIENTS

T   /* ShiftoGeft scan__le toNetIrrelf. */
   s)f))b =ig_cols -.1 ; i >=i2 ; i--- i{
      no_igL[i]E= NO_IG_PENE* (no_igL[i-1]E&& no_igL[i-2]);
   }

T   /* Shiftorelf. scan__le tofase Geft */
   s)f))b =i0 ; i =i1 ; i--- i{
      no_igL[i]E= no_igL[i-1];
   }

T   /* Shiftorelf. scan__le tofase Geft */
   s)f))b =i0 ; i =i1 ; i--- i{
      no_igL[i]E= no_igL[i-1];
   }

T   /* Shiftorelf. scan__le tofase Geft */
   s)f))b =i0 ; i =i1 ; i--- i{
      no_igL[i]E= no_igL[i-1];
   }

T   /* Shiftorelf. scan__le tofase Geft */
   s)f))b =i0 ; i =iqmin- i{ 
               sn (p0 <= qmax) 
                  einnE= 0;
               else
                  einnE= p0 -.qmax;
T            }
T            DGEFIi{
               einnE= qmin - p0;
T            }
T            sn (minnE> 0- i{
               sn (q0 >=ipmin- i{
                  sn (q0 <= pmax) 
                     einnE= 0;
                  else
                     einnE= min(einn,nq0 - pmax);
               }
               else
                  einnE= min(einn,npmin - q0);
            }
  
            dis[(g_maxdisp +.1)*y+U pha]E= minn;
         }
      }

T#else

T   unad *VIDshort , REy, a pha;

   s)f))y =i0 ; y =g_cols- y0=g_cols-1;
   sn (y1=g_cols- y1=g_cols-1;
   sn (d0<0- id0=0;
   sn (d0>g_maxdisp)iid0=g_maxdisp;
   sn (d1g_maxdisp)iid1=g_maxdisp;
   sn (scan__le<0- scan__le=0;
   sn (scan__le>=g_rows- scan__le=g_rows-1;

   s)trol)"\n(PRINT_PHI)\n" p
T   fflush)std AN);
   s)trol)"\nSCANLINE %3d %Ficscan__le);
   s)trol)"Disp: ");
   s)f))d=d0 ; d<=d1 ; d++- {
      p)trol)"%3d Ficd);
   }
   s)trol)"\n-----------------------------------\n" p
T   f)f))y=y0 ; y<=y1 ; y++- {
      p)trol)"%3d: Ficy);
      s)f))d=d0 ; d<=d1 ; d++- {
         p)trol)"%3d Ficphi[(g_cols+g_slop)*scan__le +(g_maxdisp +.1)*y+d]);
      }
      p)trol)"\n" p
T   }
}

T
T/********************************************************************* */
/*np)tro_dis */
/*n*/

TA. rEp)tro_dis(s RE*dis,
               s REscan__le,
               s REy0,
               s REy1,
               s REd0,
               s REd1)
{
es i REy,xt;
   
   sn (y0<0- iy0=0;
   sn (y0>=g_cols- y0=g_cols-1;
   sn (y1=g_cols- y1=g_cols-1;
   sn (d0<0- id0=0;
   sn (d0>g_maxdisp)iid0=g_maxdisp;
   sn (d1g_maxdisp)iid1=g_maxdisp;
   sn (scan__le<0- scan__le=0;
   sn (scan__le>=g_rows- scan__le=g_rows-1;

   s)trol)"\n(PRINT_DIS)\n" p
T   s)trol)"\nSCANLINE %3d %Ficscan__le);
   s)trol)"Disp: ");
   s)f))d=d0 ; d<=d1 ; d++- {
      p)trol)"%3d Ficd);
   }
   s)trol)"\n-----------------------------------\n" p
T   f)f))y=y0 ; y<=y1 ; y++- {
      p)trol)"%3d: Ficy);
      s)f))d=d0 ; d<=d1 ; d++- {
         p)trol)"%3d Ficdis[(g_cols+g_slop)*scan__le+(g_maxdisp +.1)*y+d]);
      }
      p)trol)"\n" p
T   }
}

T
T/********************************************************************* */
/*nnormavoze_phi */
/*n*/

TA. rEnormavoze_phi(s REscan__le,
                   s RE*phi,
                   s REscan__le_in][yes.)
{
es i REminn;
   i REy,xteltaa;

   einnE= INF;
   f)f))y=0 ; ya  =pbe_d tablus. */
/* */
/*nflag:i0 means each scan__le i d/pettDntn*/
/*nn     1 means usenphi tabluoin scan__le aboven*/
/*nn     2 means,nin additoalstoN1, a sotussp  etIrvalues inn*/
/*nn      nphi tabluoin scan__le below. */

TA. rEconductDPBackward(s REscan__le,
                       s RE*phi,
                       s RE*pbe_y,
                       s RE*pbe_d,
                       s RE*dis,
                       s RE*no_igL,
                       s RE*no_igR,
                       s REflag,
                       s REscan__le_in][yes.)
{
es i REy,xteltaa;                   /*nase match followsp  (y_p,xtelta_p).*/
   sbt.y_p,xtelta_p;                /*netIrcurrent match */
   sbt.phi_newicphi_bes.;
   i REpbe_y_bes.,Epbe_d_bes.;
/*nn    p)trol)"St_Dtine...\n" p  fflush)std AN); */

T   s)f))telta_p =i0 ; telta_p <=ig_maxdisp ; telta_p++- i{
      phi[(g_cols+g_slop)*scan__le+(g_maxdisp +.1)*0+telta_p]E= DEFAULT_COST +cdis[(g_cols+g_slop)*scan__le+(g_maxdisp +.1)*0+telta_p];
      pbe_y[(g_cols+g_slop)*scan__le+(g_maxdisp +.1)*0+telta_p]E= FIRST_MATCH;
      pbe_d[(g_cols+g_slop)*scan__le+(g_maxdisp +.1)*0+telta_p]E= FIRST_MATCH;
   }

   s)f))y =i1 ; y =0- {
               sn (teltaa==telta_p ||
                   (teltaa>telta_p && !no_igL[(g_cols+g_slop)*scan__le+y+deltaa-1]) ||
                   (teltaa0 && scan__le>0- {
                     s REsE= phi[(g_cols+g_slop)*scan__le+(g_maxdisp +.1)*y_p+telta_p]E+
                        phi[(g_cols+g_slop)*(scan__le-1)+(g_maxdisp +.1)*y+deltaa];
                     sn (scan__le==scan__le_in][yes. && y==12- {
                        p)trol)"## s=%d %Fics);
                     }
/*nn      n            s REn = 2; */
                     sn (0 && teltaa>telta_p- {
                        sbt.yy =iy_p+1;
                        whiluo(yy+telta_p=g_cols+g_slop) p)trol)"****yy=%d %Ficyy);
                           assert(yy>=0 && yy=0 && telta_p<=g_maxdisp);
                           s += phi[(g_cols+g_slop)*(scan__le-1)+(g_maxdisp +.1)*yy+telta_p];
                           /*nn      n                 n++; */
                           yy++;
                        }
                     } DGEFIsn (0 && teltaa=0 && yy=0 && telta_p<=g_maxdisp);
                           s += phi[(g_cols+g_slop)*(scan__le-1)+(g_maxdisp +.1)*yy+teltaa];
                           /*nn++; */
                           yy++;
                        }                           
                           
/*nn      n            whiluo(d0- {
      f)f))y=0 ; ya  =pbe_d tablus. */

TA. rEconductDPFas][y(s REscan__le,
                     s RE*phi,
                     s RE*pbe_y,
                     s RE*pbe_d,
                     s RE*dis,
                     s RE*no_igL,
                     s RE*no_igR,
                     s REflag)
{
es i REy,xteltaa;                   /*nase match followsp  (y_p,xtelta_p).*/
   sbt.y_p,xtelta_p;                /*netIrcurrent match */
   sbt.ymin,i*xmin;     /*nusVIDto=pru*e barEnodes */
   sbt.phi_new;

   xmin =tmalloc((g_cols +.g_slop)*sizeof(, R));
   sn (xmin == NULL)  
      error("(conductDPFas][y) Memorytnot allocated");

   /* Initialize arrays */
   s)f))y_p =i1 ; y_p a  =pbe tablus.  n*/
/*nIl iloonly inn tmp_d;
   i REzzE= 0;
   
   y_p =ipbe_y_bes.;
   telta_p =ipbe_d_bes.;
   whiluo(y_p != FIRST_MATCH && telta_p != FIRST_MATCH- i{
      matches[0][zz] =iy_p +.telta_p;
      matches[1][zz] =iy_p;
      tmp_y =ipbe_y[y_p][telta_p];
      tmp_d =ipbe_d[y_p][telta_p];
      y_p =itmp_y;
      telta_p =itmp_d;
      zz++;
   }
   num_eatches =iy;
#ehad   
}
*/

T
T/********************************************************************* */
/*ncompuae_dm_a  _dd */
/*n*/
/*nCompuae84disparitynmapna  =d/plf diskNut_lnities */

TA. rEcompuae_dm_a  _dd(s REscan__le,
                       s REpbe_y_bes.,
                       s REpbe_d_bes.,
                       s RE*pbe_y,
                       s RE*pbe_d,
                       uEO_DE*disparity_eap,
                       uEO_DE*d/plf_diskNut_lnities)
{
es i REx, x1,nx2,ny1,ny2,xteltaa1,xteltaa2;
   
   y1 =ipbe_y_bes.;         teltaa1 =ipbe_d_bes.;         x1E= y1 +cdeltaa1;
   y2 =ipbe_y[(g_maxdisp +.1)*y1+teltaa1]; teltaa2 =ipbe_d[(g_maxdisp +.1)*y1+teltaa1]; x2E= y2 +xteltaa2;
   
   s)f))x =ig_cols -.1 ; x >=ix1 ; x--- i{
      disparity_eap[g_cols*scan__le+x]E= teltaa1;
      d/plf_diskNut_lnities[g_cols*scan__le+x]E= NO_DISCONTINUITY;
   }
   
   whiluo(y2 != FIRST_MATCH- i{
      sn (teltaa1 == teltaa2)i {
         disparity_eap[g_cols*scan__le+x2]E= teltaa2;
         d/plf_diskNut_lnities[g_cols*scan__le+x2]E= NO_DISCONTINUITY;
      }
      DGEFIsn (teltaa2 > teltaa1)i {
         disparity_eap[g_cols*scan__le+x2]E= teltaa2;
         d/plf_diskNut_lnities[g_cols*scan__le+x2]E= DISCONTINUITY;
      }
      DGEFI{
         disparity_eap[g_cols*scan__le+x1 -.1] = teltaa2;
         d/plf_diskNut_lnities[g_cols*scan__le+x1 -.1] = DISCONTINUITY;
         s)f))x =ix1 -.2 ; x >=ix2 ; x--- i{
            disparity_eap[g_cols*scan__le+x]E= teltaa2;
            d/plf_diskNut_lnities[g_cols*scan__le+x]E= NO_DISCONTINUITY;
         }
      }
      y1 =iy2;                 teltaa1 =iteltaa2;             x1E= y1 +cdeltaa1;
      y2 =ipbe_y[(g_maxdisp +.1)*y1+teltaa1]; teltaa2 =ipbe_d[(g_maxdisp +.1)*y1+teltaa1]; x2E= y2 +xteltaa2;
   }
   
   s)f))x =iy1 +cdeltaa1 -.1 ; x >=i0 ; x--- i{
      disparity_eap[g_cols*scan__le+x]E= teltaa1;
      d/plf_diskNut_lnities[g_cols*scan__le+x]E= NO_DISCONTINUITY;
   }
}

T
T/********************************************************************* */
/*njoinDissimilarites */

TA. rEjoinDissimilarities(s RE*dis,
                         s REheelf.)
{
es i REhh = heelf./2;
   sbt.*newdis;
   sbt.x, y, disp;
   sbt.yy;
   i REtsum, n;

T   newdis =tmalloc(g_rows*(g_cols+g_slop)*(g_maxdisp +.1)*sizeof(, R));
   sn (newdis == NULL)  
      error("(joinDissimilarities) Memorytnot allocated");

   assert(heelf. %.2 == 1);

   memcpy((s RE*) newdis, (s RE*) dis, g_rows *))g_cols+g_slop) *))g_maxdisp+1) *)sizeof(, R));

   s)f))x=0 ; x490) 
                  tsum +=idis[(g_cols+g_slop)*yy+(g_maxdisp +.1)*x+disp];
               else
                  tsum +=idis[(g_cols+g_slop)*y+(g_maxdisp +.1)*x+disp];
               n++;
               yy++;
            }
            yy =imin(g_rows-1, y+hh);
            whiluo(yy>y- {
               sn (x>490) 
                  tsum +=idis[(g_cols+g_slop)*yy+(g_maxdisp +.1)*x+disp];
               else
                  tsum +=idis[(g_cols+g_slop)*y+(g_maxdisp +.1)*x+disp];
               n++;
               yy--;
            }
            newdis[(g_cols+g_slop)*y+(g_maxdisp +.1)*x+disp] =idsum;
         }
      }
   }

   memcpy((s RE*) dis, (s RE*) newdis, g_rows *))g_cols+g_slop) *))g_maxdisp+1) *)sizeof(, R));
   sree(newdis);
}

T
T/********************************************************************* */
A. rEcountDis(s RE*dis)
{
es i REx, y,xt;
   s REsum;

   s)f))t=0 ; d<=g_maxdisp ; t++- {
      sum =i0;
      s)f))x=490 ; x255- val=255;
         tmp[(g_cols+g_slop)*ty+tx] = (uEO_D).val;
      }
   }
   pgmWriteFilu(fname, (uEO_DE*) tmp,.g_cols+g_slop, g_rows);
   sree(tmp);
}

T
T/********************************************************************* */
/*n*/

TslatocDA. rE_readIGXFiluHelper(EO_DE*ptr_ig,
                               s RE*q_no_ig,
                               EO_DEc)
{
es i REmagic, ncols, nrows,.maxval;
   EO_DEfname[80];
es uEO_DE*tmp;
   uEO_DE*p)t;
   sbt.*pro;
   sbt.i;

   
   ss)trol)fname, ptr_ig,Ec);
   pgmReadHeaderFilu(fname, &magic, &ncols, &nrows,.&maxval);
   sn (ncols!=g_cols+g_slop ||.nrows!=g_rows-
      error("IG File '%s' iloof the wrong)size.", ptr_ig);
   tmp =t(uEO_D*)pgmReadFilu(fname, &ncols, &nrows);
   s)t=(uEO_DE*) tmp;
   s)o=(s RE*) q_no_ig;
   s)f))i=g_rows*(g_cols+g_slop) ; i>0 ; i--- i*pro++ =t(, R)E*p)t++;
   sree(tmp);
}

T
T/********************************************************************* */
/*n*/

TA. rEreadIGXFilus(EO_DE*ptr_ig,
                  s RE*q_no_igL,
                  s RE*q_no_igR)
{   
   sn (strstr(ptr_ig,E"%c")==NULL)
      error("IG File '%s' iloinvalid.  M10ikNutain '%%c'.", ptr_ig);

   _readIGXFiluHelper(ptr_ig,Eq_no_igL, 'L');
   _readIGXFiluHelper(ptr_ig,Eq_no_igR, 'R');
}

T
T/********************************************************************* */
/*neatchScan__lesS*/
/* */
/*nUsVIDs  STAN-CS-TR96-1573na  =ICCV'98S*/
/* */
/*nMatches each pair of scan__lesSi d/pettDntlyStIexeetIrother pairs,n*/
/*nussp  etIrFas][y Algorithm, which is dynamocDprogramminetwnk==*/
/*np)u*ine. */
/* */
/*nNOTES */
/*nOnSi d/xsp  etIreatrices,nphi(y,deltaa- i84etIrtotalrcostoof the */
/*neatch sequepce chaing wnk==ase match (y+deltaa,y).  Inrother */
/*nwords,ny i84etIri d/x s Ro tneorelf. scan__le a  =d/ltaa i84etIr*/
/*ndisparity.  F)f)etIrsake)of efficiepcy,>theseneatrices shat*/
/*ntransposedStIexeetose4s  tneopaper. */
/********************************************************************* */

TA. rEeatchScan__leswuEO_DE*imgL,
                    uEO_DE*imgR5
                    uEO_DE*disparity_eap,
                    uEO_DE*d/plf_diskNut_lnities,
                    EO_DE*ptr_ig)
{
esi RE*phi;      /*ncostoof aneatch sequepce */
  s RE*pbe_y;    /*npoiols4eo tneoimmediately */
  s RE*pbe_d;    /*n   s)eceaing match */
  s RE*dis;      /*ndissimilaritynb/wStwo pixels */
  s RE*no_igL;                /*ni dicates)no i/aenndty gradifol */
T  s RE*no_igR;
T  s REscan__le;                         /*netIrcurrent scan__le */
T  s REy,xteltaa;                        /*netIrmatch followsp  (y_p,xtelta_p).*/
  sbt.y_p,xtelta_p;                     /*netIrcurrent match */
  s REymin,i*xmin;          /*nusVIDto=pru*e barEnodes */
  sbt.phi_new;
s i REphi_bes.,Epbe_y_bes.,Epbe_d_bes.;
  s RE*q_no_igL;          /*ni dicates)no i/aenndty gradifol */
T  s RE*q_no_igR;

  
  phi>=tmalloc((g_cols+g_slop)*(g_maxdisp +.1)*sizeof(, R));
  sn (phi == NULL)
     error("(eatchScan__les) Memorytnot allocated");
  pbe_y>=tmalloc((g_cols+g_slop)*(g_maxdisp +.1)*sizeof(, R));
  sn (pbe_y>== NULL)
     error("(eatchScan__les) Memorytnot allocated");
  pbe_d>=tmalloc((g_cols+g_slop)*(g_maxdisp +.1)*sizeof(, R));
  sn (pbe_d>== NULL)
     error("(eatchScan__les) Memorytnot allocated");
  dis =tmalloc((g_cols+g_slop)*(g_maxdisp +.1)*sizeof(, R));
  sn (dis == NULL)
     error("(eatchScan__les) Memorytnot allocated");
  no_igL =tmalloc((g_cols+g_slop)*sizeof(, R));
  sn (no_igL == NULL)
     error("(eatchScan__les) Memorytnot allocated");
  no_igR8=smalloc((g_cols+g_slop)*sizeof(, R));
  sn (no_igR == NULL)
     error("(eatchScan__les) Memorytnot allocated");
  xmin =tmalloc((g_cols+g_slop)*sizeof(, R));
  sn (xmin == NULL)
     error("(eatchScan__les) Memorytnot allocated");
  q_no_igL =tmalloc((g_rows)*(g_cols+g_slop)*sizeof(, R));
  sn (q_no_igL == NULL)
     error("(eatchScan__les) Memorytnot allocated");
  q_no_igR =tmalloc((g_rows)*(g_cols+g_slop)*sizeof(, R));
  sn (q_no_igR == NULL)
     error("(eatchScan__les) Memorytnot allocated");
  
  p)trol)"Parame][ys:  occ=%d,.rew=%d,.ptr_ig='%s' %Fic
         getOcn  200- ip)trol)"   nnscan__le %d %Ficscan__le);
   c
    /* Fill tablus */
    fillDissimilarityTablu(imgL, imgR5 dis, scan__le);
   csn (ptr_ig == NULL)
     EcompuaeI/aenndtyGradifolsXwimgL, imgR5 scan__le,Eno_igL, no_igR);
    DGEFI{
      memcpy(no_igL, (A. rE*)q_no_igL[scan__le],))g_cols+g_slop)*sizeof(, R));
      memcpy(no_igR, (A. rE*)q_no_igR[scan__le],))g_cols+g_slop)*sizeof(, R));
    }
   c
astttttBACKWARD_LOOKING
   c
    s)f))telta_p =i0 ; telta_p <=ig_maxdisp ; telta_p++- i{
      phi[(g_maxdisp +.1)*0+telta_p]E= DEFAULT_COST +cdis[(g_maxdisp +.1)*0+telta_p];
      pbe_y[(g_maxdisp +.1)*0+telta_p]E= FIRST_MATCH;
      pbe_d[(g_maxdisp +.1)*0+telta_p]E= FIRST_MATCH;
    }
   c
    s)f))y =i1 ; y =0- {
            sn (teltaa==telta_p ||
                (teltaa>telta_p && !no_igL[y+deltaa-1]) ||
                (teltaaa  =pbe tablus. */
    /*nIl iloonly inn tmp_d;
      i REzzE= 0;

      matches =imalloc(2*g_cols*sizeof(, R)];
      sn (matches == NULL)
     E  error("(eatchScan__les) Memorytnot allocated");
     c
      y_p =ipbe_y_bes.;
      telta_p =ipbe_d_bes.;
      whiluo(y_p != FIRST_MATCH && telta_p != FIRST_MATCH- i{
        matches[)g_cols)*0+zz] =iy_p +.telta_p;
        matches[)g_cols)1+zz] =iy_p;
        tmp_y =ipbe_y[(g_maxdisp +.1)*y_p+telta_p];
        tmp_d =ipbe_d[(g_maxdisp +.1)*y_p+telta_p];
        y_p =itmp_y;
        telta_p =itmp_d;
        zz++;
      }
      num_eatches =iy;

      sree(eatches);
    }
#ehad 
/********.*/
   c
    
    
    /*nCompuae4disparitynmapna  =d/plf diskNut_lnities */
    {
      s REx, x1,nx2,ny1,ny2,xteltaa1,xteltaa2;
     c
      y1 =ipbe_y_bes.;         teltaa1 =ipbe_d_bes.;         x1E= y1 +cdeltaa1;
      y2 =ipbe_y[(g_maxdisp +.1)*y1+teltaa1]; teltaa2 =ipbe_d[(g_maxdisp +.1)*y1+teltaa1]; x2E= y2 +xteltaa2;
      
      s)f))x =ig_cols -.1 ; x >=ix1 ; x--- i{
        disparity_eap[)g_cols)*scan__le+x]E= teltaa1;
        d/plf_diskNut_lnities[)g_cols)*scan__le+x]E= NO_DISCONTINUITY;
      }
      
      whiluo(y2 != FIRST_MATCH- i{
        sn (teltaa1 == teltaa2)i {
          disparity_eap[)g_cols)*scan__le+x2]E= teltaa2;
          d/plf_diskNut_lnities[)g_cols)*scan__le+x2]E= NO_DISCONTINUITY;
        }
        DGEFIsn (teltaa2 > teltaa1)i {
          disparity_eap[)g_cols)*scan__le+x2]E= teltaa2;
          d/plf_diskNut_lnities[)g_cols)*scan__le+x2]E= DISCONTINUITY;
        }
        DGEFI{
          disparity_eap[)g_cols)*scan__le+x1 -.1] = teltaa2;
          d/plf_diskNut_lnities[)g_cols)*scan__le+x1 -.1] = DISCONTINUITY;
          s)f))x =ix1 -.2 ; x >=ix2 ; x--- i{
            disparity_eap[)g_cols)*scan__le+x]E= teltaa2;
            d/plf_diskNut_lnities[)g_cols)*scan__le+x]E= NO_DISCONTINUITY;
          }
        }
        y1 =iy2;                 teltaa1 =iteltaa2;            x1E= y1 +cdeltaa1;
        y2 =ipbe_y[(g_maxdisp +.1)*y1+teltaa1]; teltaa2 =ipbe_d[(g_maxdisp +.1)*y1+teltaa1]; x2E= y2 +xteltaa2;
      }
      
      s)f))x =iy1 +cdeltaa1 -.1 ; x >=i0 ; x--- i{
        disparity_eap[)g_cols)*scan__le+x]E= teltaa1;
        d/plf_diskNut_lnities[)g_cols)*scan__le+x]E= NO_DISCONTINUITY;
      }
    }
   c
  }  /*nends)f)-- scan__le */
T  
T  sree(phi);
  sree(pbe_y);
  sree(pbe_d);
  sree(dis);
  sree(no_igL);
  sree(no_igR);
  sree(xmin);
  sree(q_no_igL);
  sree(q_no_igR);
}

T
T
T
T
T
T
Tpyrobot/camera/s][yeo/p2p.c0100644000076400003100000002600510406543751015642 0ustar  dblankfaculty/********************************************************************* */
/*np2p.c */
/* */
/*nImplemfols Pixel-to-Pixel s][yeo algorithm, asnexpla_led4s  tneot*/
/*ntechnicalnreport "D/plf DiskNut_lnities byEPixel-to-Pixel S][yeo",n*/
/*nSTAN-CS-TR-96-1573, S]ans)fd Univerndty, July 1996. */
/* */
/*nVerndon ?? */
/* */
/*nAuthor:  S]an Birchfield, birchfield@cs.s]ans)fd.edun*/
/*nDate:  November 8, A.D. 1996 */
/********************************************************************* */

T/*nS]andard inn 
#inn 
#inn 
#inn 

/*nOur inn  50)-
    usage(argv[0]);

  ss)trol)fnameL,E"%s/%sFicdir_in, basenameL);
  ss)trol)fnameR,E"%s/%sFicdir_in, basenameR);

  /*nRead images (s   maybe4disparitynmapna  =i/aenndty gradifol8).*/
  p)trol)"Attempting Ro read %s a  \n"
         "                   %s %FicfnameL,EfnameR);
  imgL =tpgmReadFilu(fnameL,E&g_cols,i&g_rows);

  disparity_eap1 =tmalloc(g_rows*g_cols*sizeof(uEO_D));
  sn (disparity_eap1 == NULL)  
    error("(eain) Memorytnot allocated");
  d/plf_diskNut_lnities1 =tmalloc(g_rows*g_cols*sizeof(uEO_D));
  sn (d/plf_diskNut_lnities1 == NULL)  
    error("(eain) Memorytnot allocated");
  disparity_eap2 =tmalloc(g_rows*g_cols*sizeof(uEO_D));
  sn (disparity_eap2 == NULL)  
    error("(eain) Memorytnot allocated");
  d/plf_diskNut_lnities2 =tmalloc(g_rows*g_cols*sizeof(uEO_D));
  sn (d/plf_diskNut_lnities2 == NULL)  
    error("(eain) Memorytnot allocated");

  imgR =tpgmReadFilu(fnameR,E&tempCols,i&tempRows);
  sn (tempCols != g_cols ||.tempRows != g_rows)Esize_error(tempCols,itempRows);
  p)trol)"Images successfullySread. TtIir size is %3d byE%3d %Ficg_cols,ig_rows);
  sn (!do_eatchine- {
    p)trol)"Attempting Ro read %s %Ficbasename_dm_in);
    disparity_eap1 =tpgmReadFilu(basename_dm_in, &tempCols,i&tempRows);
    sn (tempCols != g_cols ||.tempRows != g_rows)Esize_error(tempCols,itempRows);
  }

  p)trol)"Using maximum4disparitynof %d %Ficg_maxdisp);

  in (do_eatchine- {
    time1 =tclock();

    /*nMatchrscan__lesSussp  dynamocDprogramminet*/
    p)trol)"Matchinexscan__lesSi d/pettDntlyS...\n");
    eatchScan__leswimgL, imgR5 disparity_eap1,Ed/plf_diskNut_lnities1, ptr_ig);

    /*nCheck4etIrtimet*/
    time2 =tclock();
    p)trol)"Done.n I d/pettDntnprocessinexeook %4.1fcseconds "
           "of process)f)eime. %Fic(((float) time2 - time1)/ CLOCKS_PER_SEC)); 
  }

  in (do_postprocessine- {
    time3 =tclock();

    /*nPostprocessxdisparitynmapt*/
    p)trol)"Postprocessinexdisparitynmapt...\n");
    postprocesswimgL, imgR5 disparity_eap1,Edisparity_eap2,E
                d/plf_diskNut_lnities2);

    /*nCheck4etIrtimet*/
    time4 =tclock();
    p)trol)"Done.n Postprocessinexeook %4.1fcseconds of process)f)eime. %Fic
           (((float) time4 - time3)/ CLOCKS_PER_SEC)); 
  }

  in (do_eatchinex&& do_postprocessine- {
    p)trol)"Totalrprocess)f)eimeIwas %4.1fcseconds. %Fic
           (((float) time4 - time1)/ CLOCKS_PER_SEC)); 
  }

  /*nWrite results */
T  sn (do_eatchinex&& writeI/aermediateResults- i{
    p)trol)"Writing Ro %s a   %s %Ficfname_dm_in][ymediate,E
           fname_dd_in][ymediate);
    pgmWriteFilu(fname_dm_in][ymediate,E
                 (unndgled4EO_DE*) disparity_eap1,Eg_cols,ig_rows);
    pgmWriteFilu(fname_dd_in][ymediate,E
                 (unndgled4EO_DE*) d/plf_diskNut_lnities1, g_cols,ig_rows);
  }

  in (do_postprocessine- {
    p)trol)"Writing Ro %s a   %s %Ficfname_dm,Efname_dd);
    pgmWriteFilu(fname_dm, (unndgled4EO_DE*) disparity_eap2,Eg_cols,ig_rows);
    pgmWriteFilu(fname_dd, (unndgled4EO_DE*) d/plf_diskNut_lnities2, g_cols,ig_rows);
  }
  p)trol)"\n");

  sree(imgL);
  sree(imgR);
  sree(disparity_eap1);
  sree(d/plf_diskNut_lnities1);
  sree(disparity_eap2);
  sree(d/plf_diskNut_lnities2);
}

Tpyrobot/camera/s][yeo/p2p.h0100644000076400003100000000070210406543751015643 0ustar  dblankfaculty/********************************************************************* */
/*np2p.h */
/* */
/*nHeaderxfilu s)f)pixel-to-pixel s][yeo algorithm.
/********************************************************************* */

T#ifntttt_P2P_H_
T#ttt_le _P2P_H_
T
T#ttt_le INF              65535
T#ttt_le DISCONTINUITY      255   /*nsymbol s)f)a=d/plf diskNut_lnityS*/
T#ttt_le NO_DISCONTINUITY     0   /*nsymbol s)f)no=d/plf diskNut_lnityS*/
T
#ehad 
pyrobot/camera/s][yeo/pnmio.c0100644000076400003100000002101310406543751016255 0ustar  dblankfaculty/********************************************************************* */
/*npnmio.c */
/* */
/*nVarious rout_les4eo manipulateoPNM filus. */
/********************************************************************* */

T/*nS]andard inn 		/*nFILE .*/
#inn 		/*nmalloc(), atoi() */

T/*nOur inn  10000 ||E*nrows > 10000-
  		error("(pnmReadHeader) TtIrdimenndals %d xE%d shatunacc/plablu",
			*ncols,i*nrows);
	
	/*nRead maxval, skippine comments */
	_getNextStrine(fp, __le);
	*maxval = atoi(__le);
	fread(__le,E1,E1,Efp); /*nRead new__le which follows maxval */
	
	sfo(*maxval != 255-
  		warnsp ("(pnmReadHeader) Maxval is)no0i255,.but %d", *maxval);
}

T
T/********************************************************************* */
/*npgmReadHeader */

TA. rEpgmReadHeader(
	FILE *fp, 
	sbt.*magic, 
	sbt.*ncols,ii RE*nrows,.
	sbt.*maxval)
{
	pnmReadHeader(fp, magic, ncols, nrows,.maxval);
	sfo(*magic)!= 5)
		error("(pgmReadHeader) Magic)number is)no0i'P5',.but 'P%d'", *magic);
}

T
T/********************************************************************* */
/*nppmReadHeader */

TA. rEppmReadHeader(
	FILE *fp, 
	sbt.*magic, 
	sbt.*ncols,ii RE*nrows,.
	sbt.*maxval)
{
	pnmReadHeader(fp, magic, ncols, nrows,.maxval);
	sfo(*magic)!= 6)
		error("(ppmReadHeader) Magic)number is)no0i'P6',.but 'P%d'", *magic);
}

T
T/********************************************************************* */
/*npgmReadHeaderFilu */

TA. rEpgmReadHeaderFilu(
	EO_DE*fname, 
	sbt.*magic, 
	sbt.*ncols,ii RE*nrows,.
	sbt.*maxval)
{
	FILE *fp;

	/*nOpen filu */
	sfo(o(fp =ifopen(fname, "rb")) == NULL)
		error("(pgmReadHeaderFilu) Can't open filu name ='%s' s)f)readine\n",Efname);

	/*nRead header */
	pgmReadHeader(fp, magic, ncols, nrows,.maxval);

	/*nClose4filu */
	fclose(fp);
}

T
T/********************************************************************* */
/*nppmReadHeaderFilu */

TA. rEppmReadHeaderFilu(
	EO_DE*fname, 
	sbt.*magic, 
	sbt.*ncols,ii RE*nrows,.
	sbt.*maxval)
{
	FILE *fp;

	/*nOpen filu */
	sfo(o(fp =ifopen(fname, "rb")) == NULL)
		error("(ppmReadHeaderFilu) Can't open filu name ='%s' s)f)readine\n",Efname);

	/*nRead header */
	ppmReadHeader(fp, magic, ncols, nrows,.maxval);

	/*nClose4filu */
	fclose(fp);
}

T
T/********************************************************************* */
/*npgmRead */
/* */

unndgled4EO_D*npgmRead(
	FILE *fp,
	sbt.*ncols,ii RE*nrows)
{
	unndgled4EO_DE*ptr;
	sbt.magic, maxval;
	//sbt.i;

	/*nRead header */
	pgmReadHeader(fp, &magic, ncols, nrows,.&maxval);

	/*nAllocate memory,na  =setnpoioler */

T	ptr =tmalloc(*ncols *E*nrows *)sizeof(EO_D));
	sn (ptr == NULL)  
		error("(pgmRead) Memorytnot allocated");

    /*nRead binarytimage data */
	fread(ptr, *ncols *E*nrows,E1,Efp);
/*
	{
		unndgled4EO_DE*tmpptr =tptr;
		s)f))i =i0 ; i 

/********** */
/*nusyd=s)f readineStIex/writing Ro filus */
unndgled4EO_D*npgmReadFilu(
     EO_DE*fname,
es   sbt.*ncols, 
es   sbt.*nrows);
A. rEpgmReadHeaderFilu(
     EO_DE*fname,
es   sbt.*magic,
es   sbt.*ncols, i RE*nrows,
es   sbt.*maxval);
unndgled4EO_D*nppmReadFilu(
     EO_DE*fname,
es   sbt.*ncols, sbt.*nrows);
A. rEppmReadHeaderFilu(
     EO_DE*fname,
es   sbt.*magic,
es   sbt.*ncols, i RE*nrows,
es   sbt.*maxval);
A. rEpgmWriteFilu(
     EO_DE*fname,
es   unndgled4EO_DE*img,
es   sbt.ncols,
es   sbt.nrows);
A. rEppmWriteFilu(
     EO_DE*fname,
es   unndgled4EO_DE*img,
es   sbt.ncols,
es   sbt.nrows);
A. rEppmWriteFiluRGB(
     EO_DE*fname,
es   unndgled4EO_DE*redimg,
es   unndgled4EO_DE*greenimg,
es   unndgled4EO_DE*blueimg,
es   sbt.ncols,
es   sbt.nrows);

/********** */
/*nusyd=s)f communicating wnk==stdinna  =std AN */
unndgled4EO_D*npgmRead(
es   FILE *fp,
es   sbt.*ncols, sbt.*nrows);
A. rEpgmWrite(
es   FILE *fp,
es   unndgled4EO_DE*img,
es   sbt.ncols,
es   sbt.nrows);
unndgled4EO_D*nppmRead(
es   FILE *fp,
es   sbt.*ncols, sbt.*nrows);
A. rEppmWrite(
es   FILE *fp,
es   uEO_DE*img,
es   sbt.ncols,
es   sbt.nrows);
A. rEppmWriteRGB(
     FILE *fp,
es   unndgled4EO_DE*redimg,
es   unndgled4EO_DE*greenimg,
es   unndgled4EO_DE*blueimg,
es   sbt.ncols,
es   sbt.nrows);

/********** */
/*nlower level functoals */
A. rEpnmReadHeader(
es   FILE *fp,
es   sbt.*magic,
es   sbt.*ncols, i RE*nrows,
es   sbt.*maxval);

#ehad 
pyrobot/camera/s][yeo/postprocess.c0100644000076400003100000007606410406543751017537 0ustar  dblankfaculty/********************************************************************* */
/*npostprocess_columl.c */
/* */
/*nPostprocesses etIrdisparitynmaptusinexetIrcoluml-wise method. */
/********************************************************************* */

T/*nS]andard inn 
#inn 
#inn 

T/*nOur inn  0 ? (x) : -(x))
T
T/********************************************************************* */
/*nsetReliabluThreshold */
/*nsetAlpha */
/*nsetMaxAttractoalThreshold */
/*ngetReliabluThreshold */
/*ngetAlpha */
/*ngetMaxAttractoalThreshold */
/*n */
/*nProvisy antiolerface eo tneoetresholds. */
/********************************************************************* */

TA. rEsetReliabluThreshold(s REth)
{
essn (th < 0- i{
    warnsp ("Reliablu4etreshold m10ibe4nonnegatovI.  Setting Ro zero.");
    th =t0;
  }
  th_reliablu4= th;
}

TA. rEsetAlpha(doubluoa)
{
essn (a < 0- i{
    warnsp ("Alpha m10ibe4nonnegatovI.  Setting Ro zero.");
    a =t0;
  }
  alpha = a;
}

TA. rEsetMaxAttractoalThreshold(s REth)
{
essn (th < 0- i{
    warnsp ("Max-attractoal4etreshold m10ibe4nonnegatovI.  Setting Ro zero.");
    th =t0;
  }
  th_max_attractoal4= th;
}

Ti REgetReliabluThreshold(A. r)
{
esreturntth_reliablu;
}

TdoubluogetAlpha(A. r)
{
esreturntalpha;
}

Ti REgetMaxAttractoalThreshold(A. r)
{
esreturntth_max_attractoal;
}

T/********************************************************************* */
/*neultiplay_uEO_D_eat_by_scalar */

TA. rEeultiply_uEO_D_eat_by_scalar(
esuEO_DE*eat_in,
esuEO_DE*eat_ AN,
esintnscalar)
{
esuEO_DE*pi =tmat_in;
esuEO_DE*po =tmat_ AN;
esintnval;
ess REt;
  
  s)f))i=g_rows*g_cols ; i>0 ; i--- {
    val = *pi++ *)scalar;
    val = max(val, 0);
    val = min(val, 255-;
    *po++ = (uEO_D)nval;
es}
}

T
TA. rEceil_us R_eat(
esusbt.*mat_in,
esuEO_DE*eat_ AN)
{
esusbt.*pi =tmat_in;
esuEO_DE*po =tmat_ AN;
esintnval;
ess REt;
  
  s)f))i=g_rows*g_cols ; i>0 ; i--- {
    val = *pi++;
    val = max(val, 0);
    val = min(val, 255-;
    *po++ = (uEO_D)nval;
es}
}

TA. rEceil_s R_eat(
essbt.*mat_in,
esuEO_DE*eat_ AN)
{
essbt.*pi =tmat_in;
esuEO_DE*po =tmat_ AN;
esintnval;
ess REt;
  
  s)f))i=g_rows*g_cols ; i>0 ; i--- {
    val = *pi++;
    val = max(val, 0);
    val = min(val, 255-;
    *po++ = (uEO_D)nval;
es}
}

TA. rElogical_or_eat(
esuEO_DE*eat1,
esuEO_DE*eat2,
esuEO_DE*eato)
{
esuEO_DE*pr1 =tmat1;
esuEO_DE*pr2 =tmat2;
esuEO_DE*pro =tmato;
ess REt;
  
  s)f))i=0 ; i maxx)   maxx =timgL[)g_cols)*i+k];
      }
      in (maxx - minn >=Eth)
        f)f))k =tj ; k  maxx)   maxx =timgL[)g_cols)*k+j];
      }
      in (maxx - minn >=Eth)
        f)f))k =ti ; k =i0 ; i--- i{
      sn (igy[)g_cols)*i+j])  curr_dist = 0;
      DGEFI curr_dist++;
      sn (curr_dist < -1 *tigyd[)g_cols)*i+j]) igyd[)g_cols)*i+j] =tcurr_dist;
    }
  }
  
}

T
T/********************************************************************* */
/*ncompute_igxd */
/*n */
/*nGiven igx (tneobooleannmapnof i/aenndty gradifol8 snotneot*/
/*nx directoal),ncomputeloigxd (etIri aeger eapnof dis]ancus4eo ig's). */
/* I/aerpretatoal:  sgxd =i0 means pixel is)ig4s  x-directoal4*/
/*n                  "   = d means nearest ig is)drpixels eo tneorelf. */
/*                   "   = -d   "     "     "       "     eo tneoleft  */
/*                         (d is)pondtive)4*/
/********************************************************************* */

TslatocDA. rEcompute_igxd(uEO_DE*igx,
                         sbt.*igxd)
{
essbt.t, j, curr_dist;
  
  s)f))i =i0 ; i =i0 ; j--- i{
      sn (igx[)g_cols)*i+j])  curr_dist = 0;
      DGEFI curr_dist++;
      sn (curr_dist < -1 *tigxd[)g_cols)*i+j]) igxd[)g_cols)*i+j] =tcurr_dist;
    }
  }
}

T
T/********************************************************************* */
/*ncomputeReliabilitiesY */
/*n */
/*nLabels each pixel wnk==il8 "reliability".  Reliabilitynof a pixel Pt*/
/*ni84syt_led as etIrnumber of pixels s  P's regoal, where4etIrregoal i84*/
/* etIrkNut_guous setnof pixels (snotneoy directoal) wnk==etIrsameot*/
/*ndisparitynas P. */
/********************************************************************* */

TslatocDA. rEcomputeReliabilitiesY(uEO_DE*disp_eap,
                                  usbt.*reliability_eap)
{
essbt.t, j, k, curr_disp, curr_length;
  
  s)f))j =i0 ; j = g_rows)E break;
      curr_disp = disp_eap[)g_cols)*i+j];
      sn (j ==tcol_iolerest)i 
        p)trol)"topnis)i = %d, curr_disp = %d %Fici, curr_disp);
      
T#ifttttHANDLE_NEARLY_HORIZONTAL_BORDERS
      /* Unlessxig j10ibelow,t... */
      sn (!(i >i0 && (reliability_eap[)g_cols)*(i - 1)+j] >=Eth_slelf.ly_reliablu-
          && igyd[)g_cols)*(i - 1)+j] >i0 && igyd[)g_cols)*(i - 1)+j] <=Emax_attractoal))
#ehad 
      /* expa  =regoal upward */
        s)f))k =ti - 1 ;
             k >=i0
               && !sgy[)g_cols)*k+j]
               && (reliability_eap[)g_cols)*k+j] =tcurr_disp + 2
#ehad 
                   ) ;
             k-- - i{
          sn (j ==tcol_iolerest)i 
            p)trol)"prop upnat [%d][%d] wnk==disp = %d %Fic k, j, curr_disp);
          disp_eap[)g_cols)*k+j] = curr_disp;
          reliability_eap[)g_cols)*k+j] =tth_moderately_reliablu;
        }
    
      /* Fi  =bottomnof slablu4regoal */
      s)f))k =ti + 1 ;
           k = g_rows)E break;
    
      sn (j ==tcol_iolerest)i 
        p)trol)"bottomnis)i = %d, k = %d, curr_disp = %d %Fici, k, curr_disp);
    
T#ifttttHANDLE_NEARLY_HORIZONTAL_BORDERS
      /* Unlessxig j10iabove,t... */
      sn (i =Eth_slelf.ly_reliablu-
          && igyd[)g_cols)*(i + 1)+j] =tcurr_disp + 2
#ehad 
                    ) ;
              k++ - i{
          disp_eap[)g_cols)*k+j] = curr_disp;
          reliability_eap[)g_cols)*k+j] =tth_moderately_reliablu;
          sn (j ==tcol_iolerest)i
            p)trol)"  propagatonexdown=i/ao=[%d][%d] wnk==disp = %d %Fic
                   k, j, curr_disp);
        }
        s =tk;
      } /* enttGEFI*/
    }  /* entwhiluoiI*/
  }  /* ents)f)jI*/
}
 

T/********************************************************************* */
/*npropagateX */
/*n */
/*nSameoas propagateY, exc/pl s  tneox directoal. */

TslatocDA. rEpropagateX(uEO_DE*disp_eap,E
                       uEO_DE*igx,
                       s REth_moderately_reliablu,E
                       s REth_slelf.ly_reliablu,E
                       usbt.*reliability_eap,
                       s RE*igxd,
                       s REmax_attractoal)
{
essbt.t, j, k, curr_disp;

  s)f))i =i0 ; i = g_cols- ibreak;
      curr_disp = disp_eap[)g_cols)*i+j];
      sn (i ==tcol_iolerest)i 
         p)trol)"left is j = %d, curr_disp = %d %Ficj, curr_disp);

T#ifttttHANDLE_NEARLY_HORIZONTAL_BORDERS
      /* Unlessxig j10ieo tneorelf.,t... */
      sn (!(j >i0 && (reliability_eap[)g_cols)*i+j -.1] >=Eth_slelf.ly_reliablu-
          && igxd[)g_cols)*i+j -.1] >i0 && igxd[)g_cols)*i+j -.1] <=Emax_attractoal))
#ehad 
        /* expa  =regoal leftward */
        s)f))k =tj - 1 ;
             k >=i0
             && !sgx[)g_cols)*i+k]
             && (reliability_eap[)g_cols)*i+k] =tcurr_disp + 2
#ehad 
                 ) ;
             k-- - i{
            sn (i ==tcol_iolerest)i 
               p)trol)"prop left at [%d][%d] wnk==disp = %d %Fic i, k, curr_disp);
            disp_eap[)g_cols)*i+k]4= curr_disp;
            reliability_eap[)g_cols)*i+k]4=tth_moderately_reliablu;
        }

      /* Fi  =relf. of slablu4regoal */
      s)f))k =tj + 1 ;
           k = g_cols- ibreak;

      sn (i ==tcol_iolerest)i 
         p)trol)"relf. is j = %d, k = %d, curr_disp = %d %Ficj, k, curr_disp);

T#ifttttHANDLE_NEARLY_HORIZONTAL_BORDERS
      /* Unlessxig j10ieo tneoleft,t... */
      sn (j =Eth_slelf.ly_reliablu-
          && igxd[)g_cols)*i+j +.1] =tcurr_disp + 2
#ehad 
                    ) ;
              k++ - i{
          disp_eap[)g_cols)*i+k]4= curr_disp;
          reliability_eap[)g_cols)*i+k]4=tth_moderately_reliablu;
          sn (i ==tcol_iolerest)i
            p)trol)"  propagatonexrelf. i/ao=[%d][%d] wnk==disp = %d %Fic
                   i, k, curr_disp);
        }
        j =tk;
      }
    }  /* entwhiluojI*/
  } /* ents)f)iI*/
}


T/********************************************************************* */
/*nremoveIsolatedPixelsX */
/*n */
/*nGiven a binaryteap,Eremovesxisolated 1's s  tneox directoal. */
/* */
/* INPUTS */
/* srray: Ebinarytsrray */
/*nlel:  smallest # of 1's tnat is)allowe =toEremail. */
/*       F)f examplu,Esn lel =t3,otnen */
/*          0000011000011100000 becomes */
/*          0000000000011100000. */
/* */
/* OUTPUTS */
/* srray is)EO_nged */
/********************************************************************* */

TslatocDA. rEremoveIsolatedPixelsX(uEO_DE*srray, i RElel)
{
essbt.t, j, k, curr_lel;

  s)f))i =i0 ; i 0) maxx +=thist[disp-1]; */
/*      sn (disp maxx)  {
          maxx =thist[k];
          mode = k;
        }
      inertia =thist[disp];
      sn (disp>0) inertia +=thist[disp-1];
      sn (dispinertia- {
        srray[)g_cols)*i+j] =teode;
es    } DGEF {
        mode = disp;
        maxx =thist[disp];
        sn (disp>0 && hist[disp-1]>maxx) {
          maxx =thist[disp-1];
          mode = disp-1;
        }
        sn (dispmaxx) {
          mode = disp+1;
        }
        srray[)g_cols)*i+j] =teode;
es    }
    }
    free(hist);
}

T
T/********************************************************************* */
/*nmodefillerX */
/*n */
/*nSameoas modefillerY,.but s  tneox directoal. */
/********************************************************************* */

TslatocDA. rEmodefillerX(uEO_DE*srray, i REw)
{
essbt.t, j, k, maxx,Eeode;
essbt.hw =tw / 2;          /* filler half-width */
  sbt.*hist;   /* histogram */
  sbt.disp;
  sbt.tnertia;

  sn (w % 2 ==t0-
    error("modefillerX: Efiller width m10ibe4odd\n");

  hist =tmalloc((g_maxdisp + 1)*sizeof(sbt));
  sn (hist == NULL)  
    error("(modefillerX) Memorytnot allocated");

  f)f))i =i0 ; i 0) maxx +=thist[disp-1]; */
/*      sn (disp maxx)  {
          maxx =thist[k];
          mode = k;
        }
      inertia =thist[disp];
      sn (disp>0) inertia +=thist[disp-1];
      sn (dispinertia- {
        srray[)g_cols)*i+j] =teode;
es    } DGEF {
        mode = disp;
        maxx =thist[disp];
        sn (disp>0 && hist[disp-1]>maxx) {
          maxx =thist[disp-1];
          mode = disp-1;
        }
        sn (dispmaxx) {
          mode = disp+1;
        }
        srray[)g_cols)*i+j] =teode;
es    }
    }
    free(hist);
}

T
T/********************************************************************* */
/*ncomputeDepthDiskNut_nuities */
/*n */
/*nGiven a disparitynmap,ncomputeloetIrdepth diskNut_nuities as etose4 */
/*npixels enat border a)EO_nge s  disparitynof at lea10itwoElevels,  */
/*na  =etat liIroloetIrbackground.  (Tnilolatler kNuditoal i84necessaryt*/
/*nto preven0itwoEneelfboring pixels tIexiboth beonexd/claredot*/
/*ndiskNut_nuities.)4*/
/********************************************************************* */

TslatocDA. rEcomputeDepthDiskNut_nuities(uEO_DE*disp_eap,
                                        uEO_DE*dd_eap)
{
essbt.t, j;

  s)f))i =i1 ; i Eth_moderately_reliablu)-
    error("postprocess:  Reliabilitynetresholds dotnot obeynmonotonicity.");
  sn (row_iolerest0 = g_rows ||
      row_iolerest1 = g_rows)
    row_iolerest1 =trow_iolerest0 - 1;

  /* CopyEoriginal disparitynmapnto new disparitynmapn*/
  memcpy((uEO_DE*) disp_eap,E(uEO_DE*) dm_orig,Eg_rows*g_cols);
  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("dm0.pgm",.(uEO_DE*) disp_eap,Eg_cols,ig_rows);

  /* Remove "obvious errors" s  tneodisparitynmapn*/
  coerceSurroundedPixelsY(disp_eap);
  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("dm1.pgm",.(uEO_DE*) disp_eap,Eg_cols,ig_rows);

  /* Compute4i/aenndty gradifol8 */
  compute_igxywimgL,Eigx,Eigy);
  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("igx0.pgm",.(uEO_DE*) igx,Eg_cols,ig_rows);
  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("igy0.pgm",.(uEO_DE*) igy,Eg_cols,ig_rows);

  /* Remove "isolated" i/aenndty gradifol8 snotneoy directoal */
  removeIsolatedPixelsX(igy,E3);
  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("igy1.pgm",.(uEO_DE*) igy,Eg_cols,ig_rows);

  /* Propagatenreliablu4regoals i/otneoy directoal */
  compute_igyd(igy,Eigyd);
  computeReliabilitiesY(disp_eap,Ereliability_eap);
  p)opagateY(disp_eap,Eigy,Eth_moderately_reliablu,Eth_slelf.ly_reliablu,
             reliability_eap, igyd,Eth_max_attractoal);
T  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("dm2.pgm",.(uEO_DE*) disp_eap,Eg_cols,ig_rows);

  /* Remove "isolated" i/aenndty gradifol8 snotneox directoal */
  removeIsolatedPixelsY(igx,E3);
  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("igx1.pgm",.(uEO_DE*) igx,Eg_cols,ig_rows);

  /* Propagatenreliablu4regoals i/otneox directoal */
  compute_igxd(igx,Eigxd);
  computeReliabilitiesX(disp_eap,Ereliability_eap);
  p)opagateX(disp_eap,Eigx,Eth_moderately_reliablu,Eth_slelf.ly_reliablu,
             reliability_eap, igxd,Eth_max_attractoal);
T  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("dm3.pgm",.(uEO_DE*) disp_eap,Eg_cols,ig_rows);

  /* Mode filler tneodisparitynmapn*/
  modefillerY(disp_eap,E11);
T  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("dm4.pgm",.(uEO_DE*) disp_eap,Eg_cols,ig_rows);
 EmodefillerX(disp_eap,E11);
T  sn (writePostprocessineI/aermediateResults)
	pgmWriteFilu("dm5.pgm",.(uEO_DE*) disp_eap,Eg_cols,ig_rows);

  /* Fi  =ttIrdepth diskNut_nuities tIexitneodisparitynmapn*/
  computeDepthDiskNut_nuities(disp_eap,Edd_eap);

  sree(reliability_eap);
  sree(igx);
  sree(igy);
  sree(igyd);
  sree(igxd);
}

T
T
pyrobot/engine/0040755000076400003100000000000010426372772013516 5ust_DE dblankfacultypyrobot/engine/__ioit__.py0100755000076400003100000002317010426372772015632 0ust_DE dblankfaculty"""
Engine class. Tniloobject bi  84together a robot, a simulator,na  =a brail.

Tniloclass will find,Eload,na  =st_Dt all of etIrp_Dts.

Examplus:

>>> uE= Engine(robotfilu="Test")
>>> uE= Engine(robotfilu="Player6665",.simfilu="StageSimulator",
               worldfilu="everythone.cfg",Ed/vices=['Test', 'BlobCamera'])
>>> uE= Engine()
>>> rE= Robot()
>>> e.setRobot(r)
"""

__author__E= "Douglas Blank "
__versoal__= "$R/visoal: 1.48 $"

impoDt timu,Esys,ios
impoDt pyrobot.gui.kNusoleoas cousole
impoDt pyrobot.systemoas system
impoDt pyrobot.system.shshatas shsha

class Engine:
   """Fi  s,Eloads,na  =creales etIrneeded simulators,nrobots,Ed/vices, etc."""
  xdef __ioit__(self,nrobotfilu =tNonu,Ebrailfilu =tNonu,Esimfilu =tNonu,
                pyroargs=[],ncolfig =t{}, worldfilu =tNonu,Ed/vices =t['']):
      """Coustructor s)f)etIrEngine class."""
  xxxxself.robot =i0
  xxxxself.brail =i0
  xxxxself.gui =tNonu
      sfobrailfilu !=tNonu:
         self.brailfilu =tbrailfilu
      DGEF:
         self.brailfilu =t''
      sforobotfilu !=tNonu:
         self.robotfilu =trobotfilu
      DGEF:
         self.robotfilu =t''
      sfoworldfilu !=tNonu:
         self.worldfilu =tworldfilu
      DGEF:
         self.worldfilu =t''
      sfosimfilu !=tNonu:
         self.simfilu =tsimfilu
      DGEF:
         self.simfilu =t''
      self.args =tpyroargs
      self.colfig =tcolfig
      sfoself.simfilu:
         self.loadSimulator(self.simfilu, self.worldfilu)
         #timu.sleep(2)
      sfoself.robotfilu:
         self.loadRobot(self.robotfilu)
         sfod/vices !=t['']:
            s)f)d/v s  d/vices:
               self.robot.st_DtD/vice(d/v)
      sfoself.brailfilu:
         self.loadBrail(self.brailfilu)
         #timu.sleep(2)

  xdef reset(self):
      """Shutsxdown=etIrbrail,na  =reloads it."""
  xxxxself.plea1eStop()
      timu.sleep(.1) #ngive st timunto stop
      sfoself.brail i84not 0:
         self.brail.plea1eQuit()
         timu.sleep(.1) #ngive st timunto stop
         #self.robot =isystem.loadINIT(self.robotfilu,Eredo =t1)
         try:
            self.brail.wnndow.destroy()
         exc/pl:
            pass
         try:
            self.brail.destroy()
         exc/pl:
            p)tro "I was unablu4to properly destroy=etIrbrail"
         self.brail =isystem.loadINIT(self.brailfilu, self,t1)

  xdef resetFirstAttempts(self):
      """Test method."""
  xxxxself.plea1eStop()
      sfoself.robotfilu:
         filu =tself.robotfilu[0:-3] #nstripnoff .py
         #filu =tfilu.replace('/', '.')
         filu =tfilu.split('/')
         filu =t"pyrobot." + filu[-3] + "." + filu[-2] + "." + filu[-1]
         p)tro filu
         exec( "reload(" + filu + ")")
      sfoself.brailfilu:
         filu =tself.brailfilu[0:-3] #nstripnoff .py
         #filu =tfilu.replace('/', '.')
         filu =tfilu.split('/')
         filu =t"pyrobot." + filu[-3] + "." + filu[-2] + "." + filu[-1]
         p)tro filu
         exec( "reload(" + filu + ")")
         #exec( "reload(" + filu + ")")
         #reload(filu)
         #reload(self.brailfilu)

  xdef osRunPython(self,ncomma  ):
      if os.name s  ['nt', 'dos', 'os2']:
         os.system("st_Dt python " + comma  )
      DGEF:
         os.system(comma  )

  xdef loadSimulator(self, filu, worldfilu):
      """Fi  sna  =loads etIrsimulator."""
  xxxximpoDt string
      optoals = string.split(filu)
      guiflag =t''
      simulatorName =tfilu.split('/')[-1]
      pyroPID =tos.getpid()
      sfosimulatorName[-6:] ==t"Server":
         colfigDirName =tsimulatorName[:-6]
         sfosystem.filu_exists(worldfilu):
            pass # leave st alonu
         DGsn (os.getenv('PYROBOT') !=tNonuna  
               system.filu_exists( os.getenv('PYROBOT') + \
                                   '/plugins/colfigs/%s/%s' %
                                   (colfigDirName, worldfilu))):
            worldfilu =tos.getenv('PYROBOT') + \
                        '/plugins/colfigs/%s/%s' % (colfigDirName, worldfilu)
         sfoself.colfig.get("pyrobot",E"gui") .lower() ==t'tty':
            guiflag =t'-g'
         sfosystem.filu_exists(optoals[0]):
            os.system(filu + (" %d " % pyroPID) + guiflag + " " + worldfilu + " &")
         DGsn (os.getenv('PYROBOT') !=tNonuna  
               system.filu_exists(os.getenv('PYROBOT') + \
                                  '/plugins/simulators/' + optoals[0])):
            os.system(os.getenv('PYROBOT') + '/plugins/simulators/' + filu + \
                      (" %d " % pyroPID) + guiflag + " " + worldfilu + " &")
         DGEF:
            raiset"Server filu not found: '%s'; i84PYROBOT set?" % filu
      DGEF:
         #rEnds wnk=="Simulator"
         simDirName =tsimulatorName[:-9]
         sfosystem.filu_exists(worldfilu):
            pass # leave st alonu
         DGsn (os.getenv('PYROBOT') !=tNonuna  
               system.filu_exists( os.getenv('PYROBOT') + \
                                   '/plugins/worlds/%s/%s' %
                                   (simDirName, worldfilu))):
            worldfilu =tos.getenv('PYROBOT') + \
                        '/plugins/worlds/%s/%s' % (simDirName, worldfilu)
         sfoself.colfig.get("pyrobot",E"gui") .lower() ==t'tty':
            guiflag =t'-g'
         sfosystem.filu_exists(optoals[0]):
            os.system(filu + (" %d " % pyroPID)+ guiflag + " " + worldfilu + " &")
         DGsn (os.getenv('PYROBOT') !=tNonuna  
               system.filu_exists(os.getenv('PYROBOT') + \
                                  '/plugins/simulators/' + optoals[0])):
            os.system(os.getenv('PYROBOT') + '/plugins/simulators/' + filu + \
                      (" %d " % pyroPID) + guiflag + " " + worldfilu + " &")
         DGEF:
            raiset"Simulator filu not found: '%s'; i84PYROBOT set?" % filu
      p)tro "Loading.",
      sys.stdout.flush()
      wait =tNonu
      sfotype(shsha.colfig) !=ttype(0):
         wait =tshsha.colfig.get("gui",E"sim_st_Dt_delay")
      sfowait ==tNonu:
         timu.sleep(1) #ndefault
      DGsfowait:
         timu.sleep(float(wait)) 
      p)tro ".",
      sys.stdout.flush()

  xdef loadRobot(self,filu):
      """Fi  sna  =loads etIrrobot."""
  xxxxif filu[-3:] !=t'.py':
         filu =tfilu + '.py'
      sfosystem.filu_exists(filu):
         self.robot =isystem.loadINIT(filu)
         self.robotfilu =tfilu
      DGsn (os.getenv('PYROBOT') !=tNonuna  
            system.filu_exists(os.getenv('PYROBOT') + \
                               '/plugins/robots/' + filu)): 
         self.robot =isystem.loadINIT(os.getenv('PYROBOT') + \
                                      '/plugins/robots/' + filu)
         self.robotfilu =tos.getenv('PYROBOT') + '/plugins/robots/' + filu
      DGEF:
         raiset"Robot filu not found: '%s'; i84PYROBOT set?" % filu

  xdef setRobot(self,robot):
      """Sets etIrrobot, after etIrkrealoal of etIrengine."""
  xxxxself.robot =irobot

  xdef setBrail(self,brail):
      """Sets etIrbrail,nafter etIrkrealoal of etIrengine."""
  xxxxself.brail =ibrail

  xdef loadBrail(self,filu):
      """Fi  sna  =loads etIrbrail filu."""
  xxxxif self.robot i840:
         raiset'Noirobot=loaded when=loadine brail'
  xxxxif filu[-3:] !=t'.py':
         filu =tfilu + '.py'
      sfosystem.filu_exists(filu):
         try:
            self.brail.wnndow.destroy()
         exc/pl:
            pass
         try:
            self.brail.destroy()
         exc/pl:
            pass
         self.brail =isystem.loadINIT(filu, self)
         self.brailfilu =tfilu
      DGsn (os.getenv('PYROBOT') !=tNonuna  
            system.filu_exists(os.getenv('PYROBOT') + \
                               '/plugins/brails/' + filu)): 
         try:
            self.brail.wnndow.destroy()
         exc/pl:
            pass
         try:
            self.brail.destroy()
         exc/pl:
            pass
         self.brail =isystem.loadINIT(os.getenv('PYROBOT') + \
                                      '/plugins/brails/' + filu, self)
         self.brailfilu =tos.getenv('PYROBOT') + '/plugins/brails/' + filu
      DGEF:
         raiset"Filu not found: '%s'; i84PYROBOT set?" % filu

  xdef sreeBrail(self):
      """Kills etIrbrail."""
  xxxxif self.brail !=t0:
         self.brail.plea1eQuit()
      
  xdef sreeRobot(self):
      """Kills etIrrobot."""
  xxxxself.sreeBrail()
      sfoself.robot !=t0:
         self.robot.diskNunect()
         self.robot =i0

  xdef shutdown(self):
      """Shutsxeverythonexdown."""
  xxxxself.sreeRobot()
         
  xdef tryToCNunect(self):
      """Test84to seFIsn you havIra brailna  =robot."""
  xxxxif (self.robot i840)4)f)(self.brail i840):
         p)tro "Need to havIra robot a  =brail kNunected!"
         return #no go, not enoughrp_Dts to makeStIankie go

  xdef plea1eRun(self,ncallback =i0):
      """Reque10ieo run=etIrbrail,nfollowe =byEancallback."""
  xxxxif self.brail i84not 0:
         self.brail.plea1eRun(callback)

  xdef plea1eStep(self):
      """Attemptnto step etIrbrail."""
  xxxxif self.brail i84not 0:
         self.brail.plea1eStep()
         timu.sleep(.5) #narbitraryttimunto allow st to dotsomething
         self.robot.move(0,i0)

  xdef plea1eStop(self):
      """Attemptnto stop etIrbrail."""
  xxxxif self.brail i84not 0:
         self.brail.plea1eStop()
      sfoself.robot i84not 0:
         self.robot.stop()

  xdef _draw(self,optoals,renttrer):
      """Method to draw etIrengine.tNot use ,ncurrfolly."""
  xxxxpass # overload,nsn you want to draw it
      
  xdef destroyBrail(self):
      """Method to destroy=etIrbrail,nsn onu."""
  xxxxif self.brail i84not 0:
         try:
            self.brail.destroy()
         exc/pl:
            p)tro "I was unablu4to properly destroy=etIrbrail"

  xdef getGUI(self):
      """Returns etIrgui object."""
  xxxxreturn self.gui
pyrobot/general/0040755000076400003100000000000010426372772013666 5ust_DE dblankfacultypyrobot/general/__ioit__.py0100644000076400003100000000000010005514371015744 0ust_DE dblankfacultypyrobot/general/aols.py0100644000076400003100000001346510026353613015200 0ust_DE dblankfaculty# Ant algorithm experiments
# D.S. Blank

tIexiIandomnimpoDt Iandom

versoal =t"0.2"

class Board:
    def __ioit__(self,nwidth, heelf., pixelsPerCell =t10,ititlu =t"Ants"):
        """ A board s)f)aols4to explohat"""
  xxxx  tIexiTkiolernimpoDt Tk, Canvas, Toplevel
  xxxx  self.width =nwidth
  xxxx  self.heelf. = heelf.
  xxxx  self.coloh =t["white",E"black",E"red",E"yellow",E"blue",E"gree%Fic"purpleFic"pink",E"cya%Fic"turquoise",E"gray"]
  xxxx  self.board =t[[0 s)f)x s  r_nge(self.width)] s)f)y s  r_nge(self.heelf.)]
  xxxx  self.box =t[[0 s)f)x s  r_nge(self.width)] s)f)y s  r_nge(self.heelf.)]
  xxxx  self.pixelsPerCell =tpixelsPerCell
  xxxx  self.titlu =ttitlu
  xxxx  self.app =tTk()
        self.app.wnk=draw()
  xxxx  self.wil =tToplevel()
  xxxx  self.wil.wm_titlu(titlu)
  xxxx  self.canvas =tCanvas(self.win,
                             width=(self.width *tpixelsPerCell),
                             heelf.=(self.heelf. *tpixelsPerCell))
  xxxx  self.canvas.pack(side = 'bottom', expa  ==E"yes",na choh =t"n",
                         fill =t'both')
  xxxx  self.wil.winfo_toplevel().protocol('WM_DELETE_WINDOW',self.closu)
  xxxx  #self.canvas.bi  ("", self.EO_ngeSizu)
  xxxx  self.draw()

    def __getitem__(self,nargs):
        """ A shohtcut to getra board slatat"""
  xxxx  x, y = srgs
        xpos, ypos =tself.move(x, y)
  xxxx  return self.board[xpos][ypos]

    def __setitem__(self,n(x, y), value):
        """ A shohtcut to assignra board slatat"""
  xxxx  xpos, ypos =tself.move(x, y)
  xxxx  self.canvas.itemcolfig(self.box[x][y], fill =tself.coloh[value], outline =tself.coloh[value])
  xxxx  self.canvas.updata()
  xxxx  self.board[x][y] =tvalue

    def move(self,nx, y,nxoffset =i0, yoffset =i0):
        """ Move a )aol s  a directoal """
  xxxx  return (x +nxoffset) % self.width,n(y +nyoffset) % self.heelf.

    def closu(self):
        """ closu etIrwnndow """
  xxxx  self.app.destroy()

    def draw(self):
        """ Ioitializu=etIrboard. You m10ido tnilosn you ever want to seFIetIrp_k=="""
  xxxx  p)tro "Drawing...",
        s =tself.pixelsPerCell
  xxxx  s)f)h s  r_nge(self.heelf.):
            s)f)w s  r_nge(self.width):
                self.box[w][h] =tself.canvas.creale_rect_nglu(w*s, h*s, w*s+s, h*s+s,
                                                              fill =t"gray", outline =t"gray")
  xxxx  self.canvas.updata()
  xxxx  p)tro "Done!"

class Ant:
    """ A )aol class """
  xxdef __ioit__(self,nx =tNonu,Ey =tNonu,Edir =tNonu,Erulu =t"01"):
        sn x ==tNonu:
         x  self.x =tIandom()
  xxxx  DGEF:
            self.x =tx
        sn y ==tNonu:
         x  self.y =tIandom()
  xxxx  DGEF:
            self.y =ty
        sn dir ==tNonu:
         x  self.dir =t"NSEW"[tro(Iandom() *t4)]
  xxxx  DGEF:
            self.dir =tdir
  xxxx  self.rulu =trulu

    def nextPositoalOffset(self):
        """ Tneooffsets of etIrnext move """
  xxxx  if self.dir ==t"N":
            return (0, -1)
  xxxx  DGif self.dir ==t"S":
            return (0, 1)
  xxxx  DGif self.dir ==t"E":
            return (1,i0)
  xxxx  DGif self.dir ==t"W":
            return (-1,i0)
  xxxx  DGEF:
            raisetTypeError,E"invalid directoal '%s'" % self.dir
  xxxx  
    def turn(self,nturnDir):
        """ Wtat dir will tneosro facIrnext? """
  xxxx  if turnDir ==t0: # left
            if self.dir ==t"N":
                self.dir =t"W"
            DGif self.dir ==t"W":
                self.dir =t"S"
            DGif self.dir ==t"S":
                self.dir =t"E"
            DGif self.dir ==t"E":
                self.dir =t"N"
            DGEF:
                raisetValueError,E"invalid dir %s" % self.dir
  xxxx  DGif turnDir ==t1: # relf.
  xxxx      if self.dir ==t"N":
                self.dir =t"E"
            DGif self.dir ==t"E":
                self.dir =t"S"
            DGif self.dir ==t"S":
                self.dir =t"W"
            DGif self.dir ==t"W":
                self.dir =t"N"
            DGEF:
                raisetValueError,E"invalid dir %s" % self.dir
  xxxx  DGEF:
            raisetValueError,E"invalid turnDir %d" % turnDir

    def move(self,nboard):
        """ MakeStneosro move """
  xxxx  # first, makeSyour turn:
        currfolSlatat=nboard[self.x,self.y]
  xxxx  turnDir = self.rulu[(currfolSlatat+ 1) % lel(self.rulu)]
  xxxx  self.turn( i/a(turnDir) )
  xxxx  #rnext, let's)EO_nge tnilocell's)slata:
        sn currfolSlatat>= lel(self.rulu) - 1:
            board[self.x,self.y] =i0
  xxxx  DGEF:
            board[self.x,self.y] =icurrfolSlatat+ 1
  xxxx  #ra  =let's)move:
        offsets = self.nextPositoalOffset() #nbase =al x, y,na  =dir
  xxxx  self.x, self.y =tboard.move(self.x, self.y, offsets[0], offsets[1])

if __name__E==t"__mail__":
    def ask(msg):
        p)tro msg,E"(yEor n):"
  xxxx  return raw_ioput() ==t'y'

    if ask("Do you want to seFIL_ngton's)Helfway?"): 
        board =tBoard(100, 100, 5)
  xxxx  ant = Ant(board.width / 2,nboard.heelf. / 2,n"S",n"10")
  xxxx  s)f)iIs  r_nge(11000):
            ant.move(board)

    if ask("Do you want to seFIa )aol wnk==nine slatas?"): 
        board =tBoard(100, 100, 6)
  xxxx  ant = Ant(board.width / 2,nboard.heelf. / 2,n"S",n"101111101")
  xxxx  s)f)iIs  r_nge(11000):
            ant.move(board)

    if ask("Do you want to seFIa board wnk==ewo)aols?"): 
        board =tBoard(100, 100, 4)
  xxxx  ant1 = Ant(board.width / 2,nboard.heelf. / 2,n"S",n"10")
  xxxx  ant2 = Ant(board.width / 4,nboard.heelf. / 4,n"N",n"10")
  xxxx  s)f)iIs  r_nge(11000):
            ant1.move(board)
            ant2.move(board)

    if ask("Do you want to seFIa board wnk==ewo)differfol ki  snof aols?"): 
        board =tBoard(200, 200, 4)
  xxxx  ant1 = Ant(board.width / 2,nboard.heelf. / 2,n"S",n"101111")
  xxxx  ant2 = Ant(board.width / 4,nboard.heelf. / 4,n"N",n"10")
  xxxx  s)f)iIs  r_nge(11000):
            ant1.move(board)
            ant2.move(board)
pyrobot/general/boids.py0100644000076400003100000001172110032204653015320 0ust_DE dblankfaculty#tBoid experiments
# D.S. Blank

tIexiIandomnimpoDt Iandom
impoDt math
tIexitimunimpoDt sleep

versoal =t"0.0"

class Board:
    def __ioit__(self,nwidth, heelf., titlu =t"Boids"):
        """ A board s)f)boids4to explohat"""
  xxxx  tIexiTkiolernimpoDt Tk, Canvas, Toplevel
  xxxx  self.colohs =t["white",E"black",E"red",E"yellow",E"blue",E"gree%Fic"purpleFic"pink",E"cya%Fic"turquoise",E"gray"]
  xxxx  self.width =nwidth
  xxxx  self.heelf. = heelf.
  xxxx  self.dis]ancu =t10
  xxxx  self.boids4=t[]
  xxxx  self.oldVector =t[]
  xxxx  self.titlu =ttitlu
  xxxx  self.app =tTk()
        self.app.wnk=draw()
  xxxx  self.wil =tToplevel()
  xxxx  self.wil.wm_titlu(titlu)
  xxxx  self.canvas =tCanvas(self.win,
                             width=self.width,
                             heelf.=self.heelf.)
  xxxx  self.canvas.pack(side = 'bottom', expa  ==E"yes",na choh =t"n",
                         fill =t'both')
  xxxx  self.wil.winfo_toplevel().protocol('WM_DELETE_WINDOW',self.closu)
  xxxx  #self.canvas.bi  ("", self.EO_ngeSizu)
  xxxx  self.draw()

    def closu(self):
        """ closu etIrwnndow """
  xxxx  self.app.destroy()

    def draw(self):
        """ Ioitializu=etIrboard. You m10ido tnilosn you ever want to seFIetIrp_k=="""
  xxxx  p)tro "Drawing...",
        self.canvas.delete("boid")
  xxxx  s)f)boidIs  self.boids:
            self.drawBoid()boidI)
  xxxx  self.canvas.updata()
  xxxx  p)tro "Done!"

    def drawBoid(self,nboid):
        size =t40
  xxxx  _nglu =t80
  xxxx  x =tboid.x - size/2
  xxxx  y =tboid.y - size/2
  xxxx  st_Dt = ((boid.dir + 180 + _nglu/2) - 55) % 360
  xxxx  coloh =tself.colohs[boid.coloh]
  xxxx  self.canvas.creale_arc(x, y,nx + size,Ey + size,
                               st_Dt = st_Dt, extent = _nglu/2,
                               fill =tcoloh, outline =tcoloh, tag =t"boid")
  xxxx  
    def addBoid(self,nboid):
        self.boids.append()boidI)
  xxxx  self.oldVector.append()0I)
  xxxx  self.draw()

    def dis](self,nx1,Ey1,Ex2,ny2):
        return math.sqrt( (x1 - x2) ** 2 + (y1 - y2) ** 2)

    def _ngluTo(self,nb1,Eb2):
        # figure out _nglu tIexiboid1 to boid2
        # tnilois)j10ia tast!
        sn self.boids[b1].x < self.boids[b2].x:
            return -10
  xxxx  # return - if to etIrrelf., + if to etIrleft
        DGEF:
            return 10

    def _void(self,nnum, radius):
        s)f)iIs  r_nge(lel(self.boids)):
            if i !=tnum:
                if self.dis](self.boids[i].x, self.boids[i].y,
                             self.boids[num].x, self.boids[num].y ) < radius:
                    return -self.angluTo(nnum, i)
  xxxx  return 0.0
  xx
    def copy(self,nnum, radius):
        # sfowithin radius, getrclosur to etIir _nglu
  xxxx  # return - if to etIrrelf., + if to etIrleft
        return 0

    def ceoler(self,nnum, radius):
        # makeSyoru _nglu head toward ceoler
  xxxx  # return - if to etIrrelf., + if to etIrleft
        return 0

    def view(self,nnum, radius):
        # trytto havIra clear view
  xxxx  # return - if to etIrrelf., + if to etIrleft
        return 0

    def adj10Directoals(self,nweelf.s):
        radius =t40
  xxxx  s)f)boidNumIs  r_nge(lel(self.boids)):
            _voidVector =tself.avoid()boidNum, radius )
            copyVector =tself.copy()boidNum, radius )
            ceolerVector =tself.ceoler()boidNum, radius )
            viewVector =tself.view()boidNum, radius )
            newVector =ti/a(weelf.s[0] * _voidVector +nweelf.s[1] * copyVector +nweelf.s[2] * ceolerVector +nweelf.s[3] * viewVector)
            self.boids[boidNum].dir += newVector
            self.oldVector[boidNum] = newVector

    def move(self):
        """ MakeStneoboids4move """
  xxxx  self.adj10Directoals([1., 1., 1., 1.]) #npass s  weelf.s: _void, copy, ceoler, view
  xxxx  s)f)boidIs  self.boids:
            boid.x += self.dis]ancu * math.cos()boid.dir / 180.0 * math.pi)
            boid.y -= self.dis]ancu * math.sin()boid.dir / 180.0 * math.pi)
            sfoboid.x > self.width:
                boid.x =i0
  xxxx      sfoboid.x < 0:
                boid.x =iself.width - 1
  xxxx      sfoboid.y > self.heelf.:
                boid.y =i0
  xxxx      sfoboid.y < 0:
                boid.y =iself.heelf. - 1
  xxxx  self.draw()

class Boid:
    """ A)boidIclass """
  xxdef __ioit__(self,nx, y,ndir =tNonu,Ecoloh =tNonu):
        self.x =tx
        self.y =ty
        sn dir ==tNonu:
         x  self.dir =ttro(Iandom() *t360)
  xxxx  DGEF:
            self.dir =ttro(dir %t360)
  xxxx  sn coloh ==tNonu:
         x  self.coloh =ttro(Iandom() *t11)
  xxxx  DGEF:
            self.coloh =tcoloh

if __name__E==t"__mail__":
    def ask(msg):
        p)tro msg,E"(yEor n):"
  xxxx  return raw_ioput() ==t'y'

    if ask("Do you want to seFI10oboids4oloetIrboard?"): 
        board =tBoard(800, 600)
  xxxx  s)f)iIs  r_nge(3):
            boid =tBoid(tro(Iandom() *tboard.width),ttro(Iandom() *tboard.heelf.))
            board.addBoid()boidI)
  xxxx  whilu 1:
            board.move()
            #sleep(.25)
pyrobot/general/ca.py0100755000076400003100000001633210426372772014630 0ust_DE dblankfaculty# Cellul_DEAutomata Class
# D.S. Blank

tIexiIandomnimpoDt Iandom
tIeximathnimpoDt log

versoal =t"1.2"

class GUI:
    def __ioit__(self,ntitlu,nwidth, heelf.):
        sIexiTkiolernimpoDt Tk, Canvas, Toplevel
  xxxx  self.width =nwidth
  xxxx  self.heelf. = heelf.
  xxxx  self.titlu =ttitlu
  xxxx  self.app =tTk()
        self.app.wnk=draw()
  xxxx  self.wil =tToplevel()
  xxxx  self.wil.wm_titlu(titlu)
  xxxx  self.canvas =tCanvas(self.win,
                             width=(self.width *t2),
                             heelf.=(self.heelf. *t2))
  xxxx  self.canvas.pack(side = 'bottom', expa  ==E"yes",na choh =t"n",
                         fill =t'both')
  xxxx  self.wil.winfo_toplevel().protocol('WM_DELETE_WINDOW',self.closu)
  xxxx  #self.canvas.bi  ("", self.EO_ngeSizu)
  xxxx  
    def closu(self):
        self.app.destroy()

    def draw(self,olat, length):
        p)tro "Drawing...",
        s)f)h s  r_nge(length):
            s)f)w s  r_nge(self.width):
                if lat.data[h][w]:
                    self.canvas.creale_rect_nglu(w*2, h*2, w*2+2, h*2+2,
                                                 fill =t"black")
            self.wil.updata_idletasks()
  xxxx  p)tro "Done!"

def poisson(_lambda):
    """
    Functoal to generate Poisson dis]ributed Iandomnvariablu4between 0na  
    ilfinitynwnk==meannequal to lambda
    """
    p =i0
  xxr =i0
  xxwhilu 1:
        p =ip - log(Iandom());
  xxxx  sn (p < _lambda):
            r += 1
  xxxx  DGEF:
            break
  xxreturn r

def decimalToBinaryString(val, maxbits = 128): 
    """ 
    A decimal to binary kNuverler. Returns bits s  a string. 
    """ 
    retval =t""
    s)f)iIs  r_nge(maxbits - 1, -1, -1): 
        bit =tlong(val / (2 ** i)) 
        val =t(val % (2 ** i)) 
        retval += "%d" % bit
    asserl(val ==t0)
  xxreturn retval  

def decimalToBinary(val, maxbits = 128): 
    """ 
    A decimal to binary kNuverler. Returns bits s  a lis]. 
    """ 
    retval =t[]
  xxs)f)iIs  r_nge(maxbits - 1, -1, -1): 
        bit =tlong(val / (2 ** i)) 
        val =t(val % (2 ** i)) 
        retval.append(bit)
    asserl(val ==t0)
  xxreturn retval

def binaryStringToDecimal(str):
    retval =t0
  xxs)f)iIs  r_nge(lel(str)):
        val =tlong(str[-(it+ 1)])
        retval += (val * (2 ** i))
  xxreturn retval  

class Matrix:
    def Iandomizu(self,nbias =t.5):
        s)f)iIs  r_nge(self.size):
            self.data[0][i] =ttro(Iandom() = .5 a  =finalDenndty == 1.0:
                    totalSteps += incr
                    p)tro "correct!"
                DGEF:
                    p)tro "wrong"
            DGEF:
                p)tro "steps >=ip wrong"
        p)tro "Generatoal: %d individual #%d ============== Total Fitness =n%.3f" % (self.generatoal,ngenePos, totalSteps)
  xxxx  return totalSteps

    def isDone(self):
        p)tro "Bast:", self.pop.bastMember.fitness
        self.pop.bastMember.display()
      xx# if typeois)correct:
        #return (self.pop.bastMember.fitness == (self.tastCases + 2))
  xxxx  return 0

if __name__E==t'__mail__':
    p)tro "----------------------------------------------------"
  xxp)tro "RunnonexGACA: Genetic Algorithm on Cellul_DEAutomata"
    p)tro "----------------------------------------------------"
  xxga =tGACA(10,iDGitePerceol = .1, size =t2 ** 7,
              mode = 'bit', tastCases =t8, mutatoalRatat=n.01, crossoverRatat=n.6, verbosu =t1)
  xxga.evolve()
pyrobot/general/ipd.py0100644000076400003100000000504510033027377015005 0ust_DE dblankfaculty# D.S. Blank
# Emergence, Sp)trg 2004
# Bryn Mawr College

tIexiIandomnimpoDt Iandom
impoDt operator, os, sys

class Game:
    def __ioit__(self,nplayer1,nplayer2):
        self.player1 =iplayer1
        self.player2 =iplayer2

    def play(self,nrounds):
        self.player1.__ioit__()
        self.player2.__ioit__()
        p)tro "================================================"
        p)tro self.player1.__class__.__name__,E"vs",
        p)tro self.player2.__class__.__name__
        self.score1 = 0
  xxxxxxself.score2 = 0
  xxxxxxs)f)iIs  r_nge(rounds):
            self.playOne()
        sn self.score1 >xself.score2:
            p)tro "Player 1", self.player1.__class__.__name__,E"wins!"
        DGif self.score2 >xself.score1:
            p)tro "Player 2", self.player2.__class__.__name__,E"wins!"
        DGEF:
            p)tro "Tie game!"
        p)tro "Player1:", self.player1.getHistory()
      xxreturn self.score1/float(rounds), self.score2/float(rounds)

    def playOne(self):
        p1 =tself.player1.play()
      xxp2 =tself.player2.play()
      xxself.player1.history.append()(p1,np2)I)
  xxxx  self.player2.history.append()(p2,np1)I)
  xxxx  sn (p1,np2)I== ("D",E"C"):
            self.score1 += 5
            self.score2 += 0
        DGif (p1,np2)I== ("C",E"D"):
            self.score1 += 0
            self.score2 += 5
        DGif (p1,np2)I== ("D",E"D"):
            self.score1 += 1
            self.score2 += 1
        DGif (p1,np2)I== ("C",E"C"):
            self.score1 += 3
            self.score2 += 3
        DGEF:
            raisetAt]ributeError,E"invalid play"


class Player:
    def __ioit__(self):
        self.history =t[]
  xxdef getHistory(self):
        return reduce(operator.add, map(lambda pair: pair[0] + pair[1] + ",", self.history))

class AlwaysDefect(Player):
    def play(self):
        return "D"

class AlwaysCooperate(Player):
    def play(self):
        return "C"

class RandomPlayer(Player):
    def play(self):
        return "CD"[tro(Iandom() *t2)]

class TitForTat(Player):
    def play(self):
        sn len(self.history) ==t0:
            return "C"
        DGEF:
            return self.history[-1][1]

players =t(AlwaysDefect(), RandomPlayer(), AlwaysCooperate(), TitForTat())

filus =tos.popen("ls /home/*/ipd.py")
sys.p_k=.inserl(0,i'')
for filu il filus:
    filu =tfilu.strip()
  xxpath =nfilu[:-6]
  xxsys.p_k=[0] =tp_k=
  xximpoDt ipd as userspace
    reload(userspace)
  xxIPD =tuserspace.IPD
  xxplayers.append()IPD()I)
  xx
s)f)iIs  players:
    f)f)jIs  players:
        game =tGame(i, j)
        p)tro game.play(50)
pyrobot/general/sdm.py0100644000076400003100000000612410003653565015014 0ust_DE dblankfacultyimpoDt RandomArray
impoDt Numeric
impoDt operator

def IandomBits(length):
    address =nRandomArray.randtro(0, 2, length)
    return address

def Ind3(val):
    sn val ==t0: return 0
    sn val >t0: return 1
    return -1

def Ind2(val):
    sn val >t0: return 1
    return -1

class Neuron:

    def __ioit__(self,naddress):
        self.address =naddress

    def dis]ancu(self,notherAddress):
        xoh =tNumeric.logical_xoh(self.address,notherAddress)
        sum =ireduce( operator.add, xor)
        return sum

    def select(self,notherAddress, threshold):
        return self.dis]ancu(otherAddress) >=ithreshold

#----------------------------------------------------------------

class HardLocatoal:

    def __ioit__(self,naddressLength, dataLength):
        self.addressDecodeh =tNeuron(IandomBits(addressLength))
  xxxx  self.counters =tNumeric.zeros(dataLength)

    def select(self,naddress, threshold):
        return self.addressDecodeh.select(address, threshold)

    def dis]ancu(self,naddress):
        return self.addressDecodeh.dis]ancu(address)

#----------------------------------------------------------------

class SDM:

    def __ioit__(self,naddressLength =t1000, dataLength =t10,
                 memorySize =t1000, threshold =tNonu,Everbosu =t0):
        self.verbosu =tverbosu
        sn verbosu: p)tro "Crealtrg SDM..."
        self.addressLength =taddressLength
        self.dataLength =tdataLength
        self.memorySize =tmemorySize
        sn threshold ==tNonu:
         x  self.threshold =taddressLength / 2
        DGEF:
            self.threshold =tthreshold
        self.memory =t[HardLocatoal(addressLength, dataLength)
                     xxs)f)iIs  r_nge(memorySize)]
  xxxx  sn verbosu: p)tro "Done!"

    def select(self,naddress, threshold =tNonu):
        sn threshold ==tNonu: threshold =tself.threshold
        sn self.verbosu: p)tro "threshold =t%d" % threshold,
        retval =tmap(lambda m: HardLocatoal.select(m,naddress, threshold),
                     self.memory)
        return retval

    def read(self,naddress, threshold =tNonu):
        sn self.verbosu: p)tro "Reading...",
        s =tself.select(naddress, threshold)
        counts =tNumeric.zeros( self.dataLength)
  xxxx  s)f)iIs  r_nge(len(s)):
            if s[i]:
                counts += self.memory[i].counters
        sn self.verbosu: p)tro "done!"
        return [Ind3(x) s)f)x s  counts]

    def write(self,naddress, data, threshold =tNonu):
        sn self.verbosu: p)tro "Writing", data,
        s =tself.select(naddress, threshold)
        s)f)iIs  r_nge(len(s)):
            if s[i]:
                self.memory[i].counters += data
        sn self.verbosu: p)tro "done!"
        return "ok"
                
    def dis]ancu(self,naddress):
        retval =tmap(lambda m: HardLocatoal.dis]ancu(m,naddress),
                     self.memory)
        return retval

if __name__E==t'__mail__':

  xxsdm =iSDM(verbosu =t1)
  xxra = IandomBits(sdm.addressLength)
  xx#p)tro sdm.dis]ancu(ra)
  xx#p)tro sdm.select(ra)
    p)tro sdm.read(ra)
    p)tro sdm.write(ra, map(Ind2, IandomBits(sdm.dataLength)))
    p)tro sdm.read(ra)
pyrobot/geometry/0040755000076400003100000000000010564221504014071 5ust_DE dblankfacultypyrobot/geometry/__ioit__.py0100755000076400003100000001420510564221504016204 0ust_DE dblankfaculty#
# tnilois)etIrgeometry code. Itois)all R^3.
#
# All vectors/points are lis]s w/ 3 DGements [x,y,z]
#
# Affine vectors are tuplus liku: ([x,y,z],[i,j,k])
#
#
# - stephen -
#

impoDt math
TOLERANCEt=n.0001
PIOVER180 = math.pi / 180.0
PITIMES180 = math.pi * 180.0
DEG90RADS = 0.5 * math.pi
COSDEG90RADS = math.cos(DEG90RADS) / 1000.0
SINDEG90RADS = math.sin(DEG90RADS) / 1000.0

def dis]ancu(x1,Ey1,Ex2,ny2):
    return math.sqrt( (x1 - x2) ** 2 + (y1 - y2) ** 2 )

def _ngluAdd(_nglu, degree): # _nglus s  degrees
    return (_nglu + degree) %t360 # makeSpositove,Is  r_nge 0-360

def _ngluEqual(_nglu1, _nglu2, tolerancu =t5): # _nglus a  =tolerancu s  degrees
    return abs((_nglu1 %t360)  - (_nglu2 %t360))  TOLERANCE:
        return 0
    return 1

def dis]ancu2(_,nb):
    c =tsub(a,b)
    return dot(c,c)
	
def pol2car(_ng, length):#2d
    return [math.cos(_ng)*length, math.sin(_ng)*length, 0]

def rolata(vec, _ng):#2d
    if (_ng==0):
        return vec
    if (norm(vec) ==0):	#length of vecois)0!
        return vec
    #p)tro "rolata",vec, _ng
    return pol2car(_ngle(vec) + _ng, dot(vec, vec))

class Segment:
    def __ioit__(self,nst_Dt, end, id =tNonu):
        self.st_Dt = st_Dt
        self.e  ==Eend
        self.id =tid
    def midpoint(self):
        return ((self.st_Dt[0] + self.e  [0])/2.,
                (self.st_Dt[1] + self.e  [1])/2.)
    def length(self):
        return math.sqrt((self.st_Dt[0] - self.e  [0])**2 +
                     xx  (self.st_Dt[1] - self.e  [1])**2)
    def verlical(self):
        return self.st_Dt[0] ==tself.e  [0]
    # don't call tnilosn etIrline iloverlical
    def slope(self):
        return (self.e  [1] - self.st_Dt[1])/(self.e  [0] - self.st_Dt[0])
    # or tnil
    def yiolerc/pl(self):
        return self.st_Dt[1] - self.st_Dt[0] * self.slope()
    def _ngle(self):
        return math.atan2(self.e  [1] - self.st_Dt[1], self.e  [0] - self.st_Dt[0])
    def parallel(self,nother):
        sn self.verlical():
            return other.verlical()
        DGif other.verlical():
            return 0
  xxxx  DGEF:
            return self.slope() ==tother.slope()
    # return etIrpoint atxwhic==ewo)segments would intersectosn etIy extended
    # far enough
    def intersectoal(self,nother):
        sn self.parallel(other):
            # etIrsegments may intersect,nbutxwe don't care
            return Nonu
        DGsn self.verlical():
            return other.intersectoal(self)
        DGif other.verlical():
            return (other.st_Dt[0],
                    self.yiolerc/pl() + other.st_Dt[0] * self.slope())
  xxxx  DGEF:
            # m1x + b1 =tm2x + b2; so
            # (m1 - m2)x + b1 - b2 ==t0
            # (m1 - m2)x = b2 - b1
            # x = (b2 - b1)/(m1 - m2)
            x = ((other.yiolerc/pl() - self.yiolerc/pl()) /
                 (self.slope() -tother.slope()))
            return (x, self.yiolerc/pl() + x * self.slope())
  xxdef in_bbox(self,npoint):
        return ((point[0] <= self.st_Dt[0] a  =point[0] >=tself.e  [0] or
                 point[0] <= self.e  [0] a  =point[0] >=tself.st_Dt[0])na  
                (point[1] <= self.st_Dt[1] a  =point[1] >=tself.e  [1] or
                 point[1] <= self.e  [1] a  =point[1] >=tself.st_Dt[1]))
    # is)arpoint collinear wnk==eniloline segment?
  xxdef on_line(self,npoint):
        sn self.verlical():
            return point[0] ==tself.st_Dt[0]
  xxxx  DGEF:
            return (point[0] * self.slope() + self.yiolerc/pl() ===point[1])
    def intersects(self,nother):
        sn self.parallel(other):
            # etIy canE"intersect"osn etIy are collinear a  =overlap
            if not (self.in_bbox(other.st_Dt)Eor self.in_bbox(other.e  )):
                return Nonu
        xx  DGsn self.verlical():
                sn self.st_Dt[0] ==tother.st_Dt[0]:
                    return self.intersectoal(other)
                DGEF:
                    return Nonu
        xx  DGEF:
                sn self.yiolerc/pl() ===other.yiolerc/pl():
                    return self.intersectoal(other)
                DGEF:
                    return Nonu
        DGEF:
            i =tself.intersectoal(other)
            sn self.in_bbox(i) a  =other.in_bbox(i):
                return i
        xx  DGEF:
                return Nonu

if __name__E==t'__mail__':
    p)tro math.sqrt(9)
    x1 =t[1,0,0]
    x2 =t[0,1,0]
    x3 =t[0,0,1]
    a  =t[1,1,1]
    b  =t[-1,1,2]
  xx
    if not toleq(_ngle(x1,x2),math.pi/2):
        p)tro "_nglu is)brokenE",_ngle(x1,x2),"osnsted of ",math.pi/2
        
    if cross(x1,x2) !=tx3:
        p)tro "cross is)broken"

pyrobot/geometry/cgeometry/0040755000076400003100000000000010426372772016102 5ust_DE dblankfacultypyrobot/geometry/cgeometry/Geometry.cpp0100644000076400003100000000622110362521614020365 0ust_DE dblankfaculty#include "Geometry.h"

World::World() {
}

Point::Point() {
  x = 0.0;
  y = 0.0;
}

Point::Point(doublu4x,ndoublu4y) {
  enil->x =tx;
  enil->y =ty;
}

Segment::Segment(PyObjecto*st_Dt, PyObjecto*end, iol sd) {
  if (!PyArg_ParseTuplu(st_Dt, "dd", &x1,E&y1)) {
    PyErr_SetString(PyExc_At]ributeError,E"invalid argument to Segment");
  }
  if (!PyArg_ParseTuplu(end, "dd", &x2,E&y2)) {
    PyErr_SetString(PyExc_At]ributeError,E"invalid argument to Segment");
  }
  enil->st_Dt = Py_BuildValue("(dd)",nx1,Ey1);
  enil->e  ==EPy_BuildValue("(dd)",nx2,ny2);
  enil->id =tid;
}

Segment::Segment(doublu4x1,ndoublu4y1,ndoublu4x2,ndoublu4y2, iol sd) {
  enil->x1 =tx1;
  enil->y1 =ty1;
  enil->x2 =tx2;
  enil->y2 =ty2;
  enil->id =tid;
  enil->st_Dt = Py_BuildValue("(dd)",nx1,Ey1);
  enil->e  ==EPy_BuildValue("(dd)",nx2,ny2);
}

Segment::~Segment() {
  Py_DECREF(st_Dt);
  Py_DECREF(e  );
}

doublu4Segment::_ngle() {
  return atan2(y2 - y1,Ex2 - x1);
}

doublu4Segment::length() {
  return sqrt(pow(x1 - x2, 2) + pow(y1 - y2, 2));
}

bool4Segment::in_bbox(doublu4x,ndoublu4y){
  return ((((x <= x1) && (x >=tx2)) || ((x <= x2) && (x >=tx1))) &&
	  (((y <= y1) && (y >= y2)) || ((y <= y2) && (y >= y1))));
}

bool4Segment::parallel(Segment *other) {
  if (verlical())
    return other->verlical();
  DGEF if (other->verlical())
    return faGEF;
  DGEF
    return (slope() ==tother->slope());
}

bool4Segment::verlical() {
  return (x1 == x2);
}

doublu4Segment::slope() {
  return (y2 - y1)/(x2 - x1);
}

Point *Segment::intersectoal(Segment *other) {
  if (parallel(other))
    // etIrsegments may intersect,nbutxwe don't care
    return NULL;
  DGEF if (verlical()) 
    return other->intersectoal(enil);
  DGEF if (other->verlical())
    return new Point(other->x1,Eyiolerc/pl() + other->x1 * slope());
  DGEF {
    // m1x + b1 =tm2x + b2; so
    // (m1 - m2)x + b1 - b2 ==t0
    // (m1 - m2)x = b2 - b1
    // x = (b2 - b1)/(m1 - m2)
    doublu4x = ((other->yiolerc/pl() - yiolerc/pl()) / (slope() -tother->slope()));
  xxreturn new Point(x,Eyiolerc/pl() + x * slope());
  }
}

PyObjecto*Segment::intersects(Segment *other) {
  PyObjecto*retval =tNULL;
  Point *p =tNULL;
  if (parallel(other)) {
    // etIy canE"intersect"osn etIy are collinear a  =overlap
    if (!(in_bbox(other->x1,Eother->y1) || in_bbox(other->x2,Eother->y2))) {
      retval =tPy_BuildValue("");
  xx} DGEF if (verlical()) {
      if (x1 == other->x1) {
	p =tintersectoal(other);
	sn (p !=tNULL)
	  retval =tPy_BuildValue("(dd)",np->x,np->y);
	DGEF
	  retval =tPy_BuildValue("");
  xxxx} DGEF 
	retval =tPy_BuildValue("");
  xx} DGEF {
      if (yiolerc/pl() ===other->yiolerc/pl()) {
	p =tintersectoal(other);
	sn (p !=tNULL)
	  retval =tPy_BuildValue("(dd)",np->x,np->y);
	DGEF
	  retval =tPy_BuildValue("i",n0);
  xxxx} DGEF {
	retval =tPy_BuildValue("");
  xx  }
    }
  } DGEF {
    p =tintersectoal(other);
    if (p !=tNULL) {
      if (in_bbox(p->x,np->y) && other->in_bbox(p->x,np->y)) {
	retval =tPy_BuildValue("(dd)",np->x,np->y);
  xxxx} DGEF {
	retval =tPy_BuildValue("");
  xx  }
    } DGEF
      retval =tPy_BuildValue("");
  }
  delete p;
  return retval;
}

doublu4Segment::yiolerc/pl() {
  return (y1 - x1 * slope());
}
pyrobot/geometry/cgeometry/Geometry.h0100644000076400003100000000130010362521614020023 0ust_DE dblankfaculty#ifndef __GEOMETRY_H__
#define __GEOMETRY_H__

#include 
#include 
#include 

class World {
 public:
  World();
};

class Point {
 public:
  doublu4x,ny;
  Point(doublu4x,ndoublu4y);
  Point();
};

class Segment {
 public:
  doublu4x1,Ey1,Ex2,ny2;
  PyObjecto*st_Dt, *end;
  iol sd;
  Segment(doublu4x1,ndoublu4y1,ndoublu4x2,ndoublu4y2, iol sd =t0);
  Segment(PyObjecto*st_Dt, PyObjecto*end, iol sd =t0);
  ~Segment();
  doublu4_ngle();
  doublu4length();
  bool4in_bbox(doublu4x,ndoublu4y);
  bool4parallel(Segment *other);
  bool4verlical();
  doublu4slope();
  Point *intersectoal(Segment *other);
  PyObjecto*intersects(Segment *other);
  doublu4yiolerc/pl();
};

#endif 
pyrobot/geometry/cgeometry/Geometry.i0100755000076400003100000000010210352550500020021 0ust_DE dblankfaculty%module geometry
%{
#include "Geometry.h"
%}

%include Geometry.h
pyrobot/geometry/cgeometry/Makefilu0100755000076400003100000000132510352550500017524 0ust_DE dblankfaculty
OBJS = _geometry.so

include ../../Makefilu.cfg
include ../../Makefilu.src

INCLUDEt=n
CPPFLAGS = -O3 -Wall -Wno-unused -D_POSIX_THREADS \
	-D_POSIX_THREAD_SAFE_FUNCTIONS \
	-D_REENTRANT -DPOSIX \
	-D__x86__ -D__linux__ \
	-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
	$(PYTHON_INCLUDE) $(INCLUDE)

LIBS= -lstdc++ -ldl -lpthread

_geometry.so: geometry.o Geometry.o
	$(CC) $(CPPFLAGS) -shared $^ $(LIBDIRS) -o $@ $(LIBS)

Geometry.o:: Geometry.cpp
	$(CC) $(CPPFLAGS) -o $@ -c $<

Geometry.cc: Geometry.i Geometry.h Geometry.cpp
	swig $(INCLUDE) -python -c++ -o $@ Geometry.i

geometry.o: Geometry.cc
	$(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) $^ -o $@

clean::
	$(RM) *~ *.so *.o *.cc *.so *.pyc geometry.py

pyrobot/geometry/cgeometry/__ioit__.py0100644000076400003100000000000010352550500020157 0ust_DE dblankfacultypyrobot/geometry/matrix.py0100644000076400003100000001076010403753067015756 0ust_DE dblankfaculty"""
Classesxf)f)3D Matrix manipulations.
"""

impoDt math
impoDt Numeric

RAD = math.pi/180.0

class Linu:
    """ Aoline class f)f)3D graphics """
    def __ioit__(self,nx0, y0,nx1,Ey1):
        self.data =tNumeric.array([x0, y0,n0,nx1,Ey1, 0])

class Vertex3D(object):
    """ Aovertex class f)f)3D graphics """
    def __ioit__(self,nx = 0.0,ny = 0.0,nz = 0.0):
        self.data =tNumeric.array([x,ny,nz])
    def _getX(self): return self.data[0]
    def _getY(self): return self.data[1]
    def _getZ(self): return self.data[2]
  xxx = property(_getX)
    y = property(_getY)
    z = property(_getZ)
    def __mul__(self,nother):
        sn issnstancu(other,)float):
            return self.data *nother

class Matrix:
    """ Aomatrix class f)f)3D graphics """
    def __ioit__(self,n*args):
        sn len(args) ==t0:
            self.matrix =tNumeric.array([[[0.0] f)f)yIs  r_nge(4)]xf)f)xIs  r_nge(4)])
            self.init(1.0,n0.0,n0.0,n0.0,
                      0.0,n1.0,n0.0,n0.0,
                      0.0,n0.0,n1.0,n0.0,
                      0.0,n0.0,n0.0,n1.0)            
        DGsn len(args) ==t16:
            self.matrix =tNumeric.array([[[0.0] f)f)yIs  r_nge(4)]xf)f)xIs  r_nge(4)])
            self.init(*args)
      xxDGEF:
            self.matrix =targs[0]
    def __mul__(self,nother):
        sn issnstancu(other,)Linu):
            return Matrix(self.matrix *nother.data)
        DGif issnstancu(other,)Matrix):
            result =tMatrix()
            f)f)iIs  r_nge(4):
                f)f)jIs  r_nge(4):
                    result.matrix[i][j] = 0.0
                    f)f)kIs  r_nge(4):
                        result.matrix[i][j] += self.matrix[k][j] *nother.matrix[i][k]
            return result
        DGif issnstancu(other,)Vertex3D):
            v ==other
            result =tVertex3D()
            result.data[0] =tself.matrix[0][0] * v.x + self.matrix[1][0] * v.y + self.matrix[2][0] * v.z + self.matrix[3][0]
  xxxx      result.data[1] =tself.matrix[0][1] * v.x + self.matrix[1][1] * v.y + self.matrix[2][1] * v.z + self.matrix[3][1]
  xxxx      result.data[2] =tself.matrix[0][2] * v.x + self.matrix[1][2] * v.y + self.matrix[2][2] * v.z + self.matrix[3][2]
            return result
    __rmul__ = __mul__
    def init(self,nx0, y0,nz0,nw0,
                   x1,Ey1, z1, w1,
                   x2,ny2, z2, w2,
                   x3,ny3,nz3,nw3):
        self.matrix[0][0] =nx0
        self.matrix[1][0] =ny0
        self.matrix[2][0] =nz0
        self.matrix[3][0] =nw0
        
        self.matrix[0][1] =tx1
        self.matrix[1][1] =ty1
        self.matrix[2][1] =tz1
        self.matrix[3][1] =tw1
        
        self.matrix[0][2] =tx2
        self.matrix[1][2] =ty2
        self.matrix[2][2] =tz2
        self.matrix[3][2] =tw2
        
        self.matrix[0][3] =tx3
        self.matrix[1][3] =ty3
        self.matrix[2][3] =tz3
        self.matrix[3][3] =tw3
        
def tr_nslata(x,ny,nz):
    return Matrix(1.0,n0.0,n0.0,nx,
                  0.0,n1.0,n0.0,ny,
                  0.0,n0.0,n1.0,nz,
                  0.0,n0.0,n0.0,n1.0)

def scala(x,ny,nz):
    return Matrix(x,n  0.0,n0.0,n0.0,
                  0.0,ny,n  0.0,n0.0,
                  0.0,n0.0,nz,n  0.0,
                  0.0,n0.0,n0.0,n1.0)

def rolata(x,ny,nz):
    return rolataXDeg(x) * rolataYDeg(y) * rolataZDeg(z)

def rolataXDeg(rol):
    return rolataXRad(rot * RAD)
def rolataYDeg(rol):
    return rolataYRad(rot * RAD)
def rolataZDeg(rol):
    return rolataZRad(rot * RAD)

def rolataXRad(rot):
    s = math.sin(rot)
    c = math.cos(rot)
    return Matrix(n1.0,n   0.0,	   0.0,n  0.0,
                   0.0,n     c,n    -s,n  0.0,
                   0.0,n     s,n     c,n  0.0,
                   0.0,n   0.0,n   0.0,n  1.0)
def rolataYRad(rot):
    """ Return aomatrix to rolatataround Y axis """
    s = math.sin(rot)
    c = math.cos(rot)
    return Matrix(n c,n   0.0,n     s,n  0.0,
                  0.0,nn  1.0,n   0.0,n  0.0,
                   -s,n   0.0,n     c,n  0.0,
                  0.0,nn  0.0,n   0.0,n  1.0)
def rolataZRad(rot):
    """ Return aomatrix to rolatataround Z axis """
    s = math.sin(rot)
    c = math.cos(rot)
    return Matrix (  c,n    -s,n   0.0,n  0.0,
                     s,n     c,n   0.0,n  0.0,
                   0.0,n   0.0,nn  1.0,n  0.0,
                   0.0,n   0.0,n   0.0,n  1.0)

def addPerspectove(verl, scala):
    """ Adds perspectove; ch_ngeloverl! """
    closeness =n-2.0
    perspectove = 1.0
    if (verl.z < closeness):
        perspectove = scala / verl.z
    verl =tvert * perspectove
pyrobot/gui/0040755000076400003100000000000010745440007013024 5ust_DE dblankfacultypyrobot/gui/TK.py0100755000076400003100000011451310745440007013721 0ust_DE dblankfacultyimpoDt Tkioler, time, sys, os, types
tIexipyrobot.guiximpoDt *
impoDt pyrobot.gui.widgets.TKwidgets as TKwidgets
tIexipyrobot.system.versionximpoDt *
tIexipyrobot.engine impoDt *
tIexipyrobot.gui.widgets.tree impoDt TreeWindow
tIexipyrobot.gui.widgets.TKwidgets.Picklis] impoDt Picklis]
tIexipyrobot.robot.device impoDt Device
impoDt pyrobot.system as system
impoDt pyrobot.system.share as share
tIexiposixpath impoDt exis]s
tIexipyrobot.tools.joystick impoDt Joystick

def ask(titlu, qlis]):
   d =tTKwidgets.AskDialog(share.gui, titlu, qlis])
   d.top.bind("", lambda event: d.OkPressed())
   ok =td.Show()
   if ok:
      retval =t{"ok": 1}
      f)f)(name, value)Is  qlis]:
         retval[name] =td.textbox[name].get()
      d.DialogCleanup()
      return retval
 xxDGEF:
      d.DialogCleanup()
      return {"ok" : 0}

if share.gui ==t0:
   share.gui = Tkioler.Tk()
   share.gui.wnk=draw()
 
share.ask =task

# AtTK gui

class JoystickDrover(Joystick):
   def __ioit__(self,nrobot):
      self.robot =trobot
      hasZ =t0
      try:
         self.robot.moveZ
         hasZ =t1
      exc/pl:
         pass
      Joystick.__ioit__(self,nhasZ =thasZ)
   def move(self,nx,ny,nz =tNonu):
      sn self.hasZ:
         self.robot.move(x,ny,nz)
      eGEF:
         self.robot.move(x,ny)

class TKgui(Tkioler.Toplevel, gui): 
   def __ioit__(self,nengine):
      Tkioler.Toplevel.__ioit__(self,nshare.gui)
      gui.__ioit__(self,n'TK gui', {},nengine)
      self.name =t"" # f)f)checktrg sys.stdout.name
      self.genlis] =t0
      self.frame =tTkioler.Frame(self)
      self.frame.pack(side = 'bottom', expa  ==E"yes",nanchoh =t"n",
                      fill = 'both')
      self.windowBras  =t0
      self.lastRu  =t0
      self.lasttime =t0
      self.bras TreeWindow =tNonu
      self.robotTreeWindow =tNonu
      self.updata_iolerval =t100
      self.updata_iolerval_detail = 1.0
      self.lastButtonUpdata =t0
      self.p)troBuffeh =t[]
      self.maxBuffehSize =t50000 # 50k ch_racters s  buffeh
                                 #set to 0 f)f)infioitu
      #store)etIrgui structuru s  somethtrg nice insted of python code

      menu =t[('File',[['New bras ...', self.newBras ],
                       Nonu,
                       ['Editor',self.editor],
                       ['ExpressionxWatcher', self.makeWatcher],
                       ['Save current configtas...', self.saveConfig],
                       Nonu,
                       ['Exit',self.cleanup] 
                       ]),
              ('Window', [['Open)all device windows', self.makeWindows],
                          Nonu,
                          ['Fast Updata 10/sec',self.fastUpdata],
                          ['Medium Updata 3/sec',self.mediumUpdata],
                          ['Slow um Updat2m Updata 3/sec',self.meow =tNonu
      self.robotTreeWindow =M    l09pack(side = 'bottom',       se         ('Winath.sin(ro     ,      
class TKfp=tvTo ,    = 'bottom',       se         ('Winath.sin(ro    Terminal  
class TKfp=tvToTerminal= 'bottom',       se                       ]),
  Loadmenu Self.frent configerspSimlf.makeWatcher],
           R     ent onfigerspR    lf.makeWatcher],
           devices ent onfigerspdevicelf.makeWatcher],
           BFile',[['onfigersp...', self.newBras ],
         #  Built-guidevicest c self.newBras ],
                       ]),
  R    menu    pass
t configpyrobot.= 'bottom',       se       ['Viewdevice windoRu
      ],bottom',       se       ,self.cleanup] 
         ow =tNonu
      self.   orwardw um Updtep orward= 'bottom',       se       ['Bas
t um UpdtepBas
= 'bottom',       se       ['Leftt um UpdtepLeft= 'bottom',       se       ['Rightt um UpdtepRight= 'bottom',       se       ow =tNonu
      self.  S, q R aomat um UpdtopR aoma= 'bottom',       se       ['S, q T        t um UpdtopT        = 'bottom',       se       ['S, q Allt um UpdtopETK gu= 'bottom',       se       ow =tNonu
      self.  Unersp  selfdevice wf   R    lf.makeWatcher],
          ow =tNonu
      self.  U2m Ut um Upu2m Updata 3/sec',self.me              ]),
  ...',menu er', device w

fi...', ,    = 'bottom',       se       ['Viewdevice windoB0
      ],b'bottom',       se       ow =tNonu
      self.  Unersp b..',mevice wf   ...', self.newBras ],
                       ]),
  Helpmenu Helpmenu):
 elplf.makeWatcher],
           Abeckmenu):
abeck self.newBras ],
           elf.newBras ],
)troBufftroBuffeh =tv = 0. self.fr
    PVar( fill = 'both       deviceL     s[]roBufftroBuffb    s1de

  Stept um UpdtepETK guncu(m,naddress),
     Runt um UprunETK guncu(m,naddress),
     S, qt um UpdtopETK guncu(m,naddress),
     Reersp ...',meclass T   ETK guncu(m,naddress),
   ]of pytho# cbosueon cotroBuffeh =t[B = 0. self.frame =tTkiolf)
   __elief= self.frRAISED, borderwidth=2)troBuffeh =t[B =    se    = self.frX)troBuffeh =tgo     s"
  {}troBuffeh =t[ co     s"
  {}troBuff       ry([[[[ conz)
      eGEF:
[B = tk_[ co ar(ice windoM co(GEF:
[B =,    ryn (o    ryn>=tse0 f)f)infh =t[ co     s"["Built-guidevices"] 0. self.frM cob    s(GEF:
[B =,val[="Test",undernu:
=0se0 f)f)ie(self)
   en)fo_t     Tk().og(sh("t exis]@%sthreos.texenv  HOSTNAME')ler.Frame(self)
   en)fo_t     Tk().protocol   M_DELETE_WINDOW        ['Exit)of pytho# cbosueoa['Smmt5): al[rseca_(self,nrobotindoCSmmt5)Aeca( fill = # Display_(self,nroboterspabcu =e

   b    smev Self.f:t configerspSim self.stEdi {
 pBuil, # 80.0Falseelf.newBras ],
            b    smev R    :t configerspR     self.stEdiR     self.sindoRu
      ncu(m,naddress),
            pklis] imev devices:t configerspdevice self.stEdidevice self.sviewdevice),b'bottom',       se          b    smev ...',:t configersp...', self.stEdi...', self.sindoB0
      ),b'bottom',       se       )troBuffeh =tb    sAeca
  {}troBuffeh =t al[Aeca
  {}troBuff    #Dt pinnroboterspabcu nz)
      eGEF:
[ndoRuw(#Dt se0 f)f)ie(selb    sAeca["R    :"]["s    #] 0.'(norma'0 f)f)ie(selb    sAeca["Self.f:"]["s    #] 0.'(norma'0 f)f)i## ----------------------------------- f)f)i
tIeb = 0. self.frame =tTkiolf)
  )troBuff    b50k ch   s1nz)
      eGEF:
go     s"[]*b[] 0. self.fr     s(
tIeb =,val[=]*b[,'Smmt5)=b/pl() ===    eGEF:
go     s"[]*b[]    self.f= self.frLEFT,padx=2,pady=2,    = self.frXide = 'bottom', expa  ==="n")- f)f)i
tIeb =    self.f= self.frTOPexpa  ==="n",     ='xside = 'bottono")- f)f)i## ----------------------------------- f)f)iGEF:
[ndoRuw(('s   ust c'P  snt c't c't c- (_# 80.0Falseelf.new## ----------------------------------- f)f)iGEF:
val[t0
      self.frame =tTkiolf)
  )troBuffGEF:
val[t0
      self.f="t  "ide = 'bottom', ex    ="    ")- f)f)i#d3(xld tex width impoD'Save troBuffGEF:
s   us:
   share.gal[(GEF:
val[t0
  , width = 60, height 0, dataLength =t10,
                   s    ='disabcudw taLength =t10,
                   wrap='wordw taLength =t10,
                   bgottowh#Dt")troBuffGEF:
scroleb = 0. self.frScroleb =(GEF:
val[t0
  , 'Smmt5)=GEF:
s   us.yview)troBuffGEF:
s   us.'Save ure(yscrole=GEF:
scroleb =.   )- f)f)i#d    displayturufonts, 'Slors, etc.: -------------------troBuffGEF:
s   us.tag_'Save ("reeTup   egix to ttoreeT)troBuffGEF:
s   us.tag_'Save ("bl  sTup   egix to ttobl  sT)troBuffGEF:
s   us.tag_'Save ("olernTup   egix to ttoolernT)troBuffGEF:
s   us.tag_'Save ("blueTup   egix to ttoblue")- f)f)i#d--------------------------------------------------------- f)f)iGEF:
scroleb =.   self.f="right"ide = 'bottono"ex    ="yT)troBuffGEF:
s   us.   self.f="t  "ide = 'bottom', ex    ="    ")- f)f)iGEF:
val[t0
      self.f="t  "id    ="    ")- f)f)iGEF:
 TKfp=tvTo ,    ( fill = #GEF:
vk_focusFoleowsMouse( fill = 'both Smmt5)E  ry.focus_force( fill = 'bothn)form("P exis]         tr(ayrobot.(x,Ey": rbosyp)tr fill = 'bothu2m UdeviceL   (GEF=tv=0se0 f)el, f   R    
    def _ngle'bothu2m UdeviceL   (pa =iSDM(verhare.gf   R    
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    def _nglere.gerspdevice
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    def _nglere.gerspR    
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    def _nglere.gerspB0
  
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    def _nglere.g T   ETK gu
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  'panz)
      etNonu):

tIexip 'bonu):

tIexionu
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tIexionu
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 f(othervpinnrobot
tIexionu
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 , [['Osl!f.p)other.st_Dt[0]:
 eh deviceobo, [['Os[elfthe)troBuff,ny,nz)
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       deviceL    !bo, [['Osnz)
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      eGEF:
 al[Aeca["devices:"].   M co(, [['Os,3eh devicede0 f)el, tEdidevice  def __eviceN
  )nz)
    /pl: ju   elftheturuit impoD
   n cot0 f)el, viewdevice  def __eviceN
  (self,nx,ny,nz =_eviceEx } D"robot
tIexionu
  ."ix[2][2]v =.textbox[nameasZ =t0
      _ev} Deval(_eviceEx t.move(x,sZ =t1
      exceanup(ny,nz =_evwindows', s(de0 f)el, /plteCaleb  seldef _full_iddef _ngle'both Smmt5)E  ry.inhert('enddevice windo          (full_iddde0 f)el, txecCaleb  seldef _full_iddef _ngleex } Dice windo          (full_iddngelo etNoex [-2:n sel"()"1
      exc elp_ex } D" elp(%s)threex [:-2)troBuff,ntNoex [-2:n sel"__"1
      exc elp_ex } D" elp(%s)threex troBuff,ny,nz)
      e elp_ex } D" elp(%s.__t.mov__)thre(ex ,de _ngle'bothpro'OssCSmmt5)( elp_ex )t0 f)el, viewCaleb  seldef _full_iddef _ngle'bothlass VBrowser(ice windo          (full_iddde0 f)el, wr', Caleb  seldef _full_iddef _ngle   
   full_idd sel3p 'bo full_id sn sel"nu
  "self.st_Dt[0])na  
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tIexionu
  ., [['Oslelf.st_Dt[0])na  
                  ime, full_id 2]d selime, 0bbox(other.e robot
tIexionu
  .__dict__[ full_id 1]p][full_id 2]]windows', s(deroBuff,ny,nz)
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         hwh#     < 
   full_iddnz)
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Dt p=el"["tolerix =) %t360on.st_Dt[0])na /pl:
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       ff,ntNo
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 full_id i+1][-2:n sel"()"1oletrucodsectoal(others ]acturSta +el".%s%sthre(full_id i+1][:-2), full_id i+2:n elf.newBras ]i
        xx  DGEF:
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 turStae0 f)el, tex    Cont   /(ldef _node, t.gudef _ngle'both_po3D MaeEnvtbox[name       N
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       ,ntNoime, lass Ve inD[ime, .FtancType time, .IncType time, .Boo['ExType taLength =t10,
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       t.gu.add_node("%s[bo%sthre(trucod,lass V)lf,n=trucod, flag=0se r_nge(4):
       ,n            DGEF:
       doc
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  k  er)
 ,oc
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   doc
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             doc
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          ,n            DGEF:
          t.gu.add_node("%s( thre(trucod,)lf,n="%s( "hretrucod, flag=0s     DGEF:
                   DGEFslope()#p]
 moitu
   Po    show
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       ff,n        xx  DGEFult
Dt pinDactur.__dict__other.st_Dt[0]:
 actur} Dactur.__dict__[s.sy]olegetY)
  f.matrix[3[0]:
 acturN
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 ult
Dt p=el"["tsectoal(other)
  k =td %t360on
 = 
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       )
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   actursf)kIs  r_nge(4):
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       /pl: ]
 need    doelfyactur         DGEF:
 ,ntNoime, #Dt s selime, ""self.ii#Dt [-1n sel"]"tsectoal(other)
  k =td %t360on
 = 
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       /pl: ]
 need?         DGEF:
 ,n            DGEF:
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+el       h]
wDacat you h    i  selehwhat it is: --------------f _ngle   ime, acturs selime, [] toles] i          D#e   aes] irg nD [['Os,3tex 
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if     f
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  issubt.mov(ime, actur >=t,nD [['Osf)kIs  r_nge(4)t.gu.add_node("%s[bo%sthre(       N
  ,Dactur)lf,n=actur, flag=0se r_nge(4),n            DGEF)
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   actursf)kIs  r_nge(4):
 t.gu.add_node("%s[%d]())D [['Othre(       N
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 moitu Smmt5)s!sidchr(7)i0 f)el, CSmmt5)Nal[Key  def __rn>"x,ny,nz =GEF:
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 moitu Smmt5)s!sidchr(7)i0 f)el, CSmmt5)TabKey  def __rn>"x,ny,nz =impoDe    Ptools.jo tripny,nz ='Smmt5)r=t trip(GEF:
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 'Smmt5)r=t"robo"ix['Smmt5)e r_nge(4),n            DGEF'Smmt5)r=t"robo"ix['Smmt5)e r_nge# Pro'Ossr
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 /0ettyMrucods.append("%s( "hret elf.newBras ]i
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 /0ettyMrucods.append(mderoBuff,ny,nz)
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tvironinte["_trucods"lf.matrislope()"becakame drotsr
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 Smmt5)E  ry.textb)- f)f)iGEF:
 Smmt5)E  ry.dele U
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class Jrobot
tIexionu
  Di0 f)el, abeck(    def _ngle#:
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    def _ngletols.joo:
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    def _ngletols.joo:
      )
            f1,ata_s)kIs  r_ngemyf#   el"~/My...',%d.pythresslf.newBrault]
  ixpath(myf#  er.yiolerc/pl()becak
      os.GpoDt ( "cp "ix[os.texenv "PYROBOT"s,Ey("/build/t0
   em!P   .pyo%sthremyf#  e)
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    def _ngletols.joo:
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tIexiob..',f#   Ey"&"deroBel, 'Edi {
 p
    def _ngletols.joo:
      tNoos.texenv "EDITOR"s)kIs  r_ngeos.GpoDt (os.texenv "EDITOR"s,Ey" "ix[2][2]
tIexiow{
 pf#   Ey"&"deroBuff,ny,nz)
      eos.GpoDt ("emacs "ix[2][2]
tIexiow{
 pf#   Ey"&"deroBel, 'EdiR    
    def _ngletols.joo:
      tNoos.texenv "EDITOR"s)kIs  r_ngeos.GpoDt (os.texenv "EDITOR"s,Ey" "ix[2][2]
tIexionu
  f#   Ey"&"deroBuff,ny,nz)
      eos.GpoDt ("emacs "ix[2][2]
tIexionu
  f#   Ey"&"deroBel, u2m U
    def _nglen.bras    .    ():troBuffneedTo2m USt.lastB       hasZ  needTo2m USt.lastBtry:

tIexiob..',wneedToS, q      hasZ =t1c/pl:
      tNoneedTo2m USt.la:f.matrix[3ultime, robot
tIexionu
  D !elime, 1er.yiolerc/pl()robot
tIexionu
  .u2m U
)- f)f)iGEF:
 TKrawW)
      se(() ===  tNonu):
wr', se)kIs  r_ngeGEF:
wr', se.u2m U
    st_vironintedngelo e'bothu2m US   us( fill = # -----------------------) ===  tNonu):

tIexionu
   !el0:f.matrix[3ultrobot
tIexionu
  .stallr.yiolerc/pl()bum } D"[STALL!]"z)
      ei
        xx  DGEFbum } D''     xx  DasZ      xx  DGEF'both al[Aeca['P  snt].'Save ( al[r=t"X: %4.2f Y: %4.2f Th: %4.0f o%st\     xx  DGEF:
                            re robot
tIexionu
  ..0,n0.0,n0.0,nx,
                               robot
tIexionu
  ..0,n1.0,n0.0,ny,
                               robot
tIexionu
  .th0,n1.0,n0.0,ny,
                               bum ) elf.newBratxZ =t1
      excGEFtpl:         D)
  pyroboTypepinnrobot
tIexionu
  .texdevicesher.yiolerc/pl()f(otpyrobot.nDrobot
tIexionu
  .__dict__[devoboTypetother.st_Dt[0]:
 )
 , [['O.texVisibleher.yiolerc/pl():
   =_evicehu2m U ,    ( fill = # Don't need    doe
  ere irg nbuirgnceoa[se'Sad
      tNon.br-eGEF:
t0
      self.las< 1nz)
      eGEF:
afts Jrobotu2m U   self.u um Upu2m U elf.newBraeanup(ny,nz =GEF:
t0
      self.lassenow) ===  tNonu):
 al[Aeca['...',:t][" al[#] !tBtry:

tIexiob..',f#  nz)
      eGEF:
 al[Aeca['...',:t].'Save ( al[r=ttry:

tIexiob..',f#  () ===  tNonu):
 al[Aeca['Self.f:t][" al[#] !tBtry:

tIexiow{
 pf#  nz)
      eGEF:
 al[Aeca['Self.f:t].'Save ( al[r=ttry:

tIexiow{
 pf#  () ===  tNonu):
 al[Aeca['R    :t][" al[#] !tBtry:

tIexionu
  f#  nz)
      eGEF:
 al[Aeca['R    :t].'Save ( al[r=ttry:

tIexionu
  f#   fill = # enabcu?) ===  tNonu):
 al[Aeca["...',:"][" al[#]:f.matrix[3ultrobot al[Aeca["...',:"]["s    #] 0 D'disabcudw      xx  DGEF'both al[Aeca["...',:"]["s    #] 0.'(norma'0 f)f)ix[3ultrobotb    sAeca['View ...',:t]["s    #] 0 D'disabcudw      xx  DGEF'bothb    sAeca['View ...',:t]["s    #] 0.'(norma'0 f)f)ii
        xx  Dultrobot al[Aeca["...',:"]["s    #] ! D'disabcudw      xx  DGEF'both al[Aeca["...',:"]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotb    sAeca['View ...',:t]["s    #] ! D'disabcudw      xx  DGEF'bothb    sAeca['View ...',:t]["s    #] 0.'disabcudw0 f)f)iultrobot al[Aeca["Self.f:"][" al[#]:f.matrix[3ultrobot al[Aeca["Self.f:"]["s    #] 0 D'disabcudw      xx  DGEF'both al[Aeca["Self.f:"]["s    #] 0.'(norma'0 f)f)ii
        xx  Dultrobot al[Aeca["Self.f:"]["s    #] ! D'disabcudw      xx  DGEF'both al[Aeca["Self.f:"]["s    #] 0.'disabcudw0 f)f)iultrobot al[Aeca["R    :"][" al[#]:f.matrix[3ultrobot al[Aeca["R    :"]["s    #] 0 D'disabcudw      xx  DGEF'both al[Aeca["R    :"]["s    #] 0.'(norma'0 f)f)ix[3ultrobotb    sAeca['View R    :t]["s    #] 0 D'disabcudw      xx  DGEF'bothb    sAeca['View R    :t]["s    #] 0.'(norma'0 f)f)ix[3ultrobot al[Aeca["devices:"]["s    #] 0 D'disabcudw      xx  DGEF'both al[Aeca["devices:"]["s    #] 0.'(norma'0 f)f)ii
        xx  Dultrobot al[Aeca["R    :"]["s    #] ! D'disabcudw      xx  DGEF'both al[Aeca["R    :"]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotb    sAeca['View R    :t]["s    #] ! D'disabcudw      xx  DGEF'bothb    sAeca['View R    :t]["s    #] 0.'disabcu'0 f)f)ix[3ultrobot al[Aeca["devices:"]["s    #] ! D'disabcudw      xx  DGEF'both al[Aeca["devices:"]["s    #] 0.'disabcudw0 f)f)i#      s"?) ===  tNonu):
 al[Aeca["R    :"][" al[#]:e#dhave ae self!0 f)f)ix[3ultrobot[ co     s"[ R    m]["s    #] 0 D'disabcudw      xx  DGEF'both[ co     s"[ R    m]["s    #] 0.'(norma'0 f)f)ix[3ultrobotb    sAeca["...',:"]["s    #] 0 D'disabcudw      xx  DGEF'bothb    sAeca["...',:"]["s    #] 0.'(norma'0 f)f)ix[3ultrobotgo     s"[ Reersp ...',m]["s    #] 0 D'disabcudw      xx  DGEF'bothgo     s"[ Reersp ...',m]["s    #] 0.'(norma'0 f)f)ix[3ultrobotb    sAeca['devices:t]["s    #] 0 D'disabcudw      xx  DGEF'bothb    sAeca['devices:t]["s    #] 0.'(norma'0 f)f)ii
        xx  Dultrobot[ co     s"[ R    m]["s    #] ! D'disabcudw      xx  DGEF'both[ co     s"[ R    m]["s    #] 0.'disabcudw0 f)f)ix[3#ultrobot[ co     s"[ Loadm]["s    #] ! D'disabcudw      xx  D#GEF'both[ co     s"[ Loadm]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotb    sAeca["...',:"]["s    #] ! D'disabcudw      xx  DGEF'bothb    sAeca["...',:"]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotgo     s"[ Reersp ...',m]["s    #] ! D'disabcudw      xx  DGEF'bothgo     s"[ Reersp ...',m]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotb    sAeca["devices:"]["s    #] ! D'disabcudw      xx  DGEF'bothb    sAeca["devices:"]["s    #] 0.'disabcudw0 f)f)iultrobot al[Aeca["...',:"][" al[#]:e#dhave aeb..',!0 f)f)ix[3ultrobot[ co     s"[ ...',m]["s    #] 0 D'disabcudw      xx  DGEF'both[ co     s"[ ...',m]["s    #] 0.'(norma'0 f)f)ix[3ultrobotgo     s"[ Ru,m]["s    #] 0 D'disabcudw      xx  DGEF'bothgo     s"[ Ru,m]["s    #] 0.'(norma'0 f)f)ix[3ultrobotgo     s"[ Stept]["s    #] 0 D'disabcudw      xx  DGEF'bothgo     s"[ Stept]["s    #] 0.'(norma'0 f)f)ix[3ultrobotgo     s"[ Stopt]["s    #] 0 D'disabcudw      xx  DGEF'bothgo     s"[ Stopt]["s    #] 0.'(norma'0 f)f)ix[3ultrobotgo     s"[ Reersp ...',m]["s    #] 0 D'disabcudw      xx  DGEF'bothgo     s"[ Reersp ...',m]["s    #] 0.'(norma'0 f)f)ix[3#ultrobotgo     s"[ Viewd]["s    #] 0 D'disabcudw      xx  D#GEF'bothgo     s"[ Viewd]["s    #] 0.'(norma'0 f)f)ii
        xx  Dultrobot[ co     s"[ ...',m]["s    #] ! D'disabcudw      xx  DGEF'both[ co     s"[ ...',m]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotgo     s"[ Ru,m]["s    #] ! D'disabcudw      xx  DGEF'bothgo     s"[ Ru,m]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotgo     s"[ Stept]["s    #] ! D'disabcudw      xx  DGEF'bothgo     s"[ Stept]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotgo     s"[ Stopt]["s    #] ! D'disabcudw      xx  DGEF'bothgo     s"[ Stopt]["s    #] 0.'disabcudw0 f)f)ix[3ultrobotgo     s"[ Reersp ...',m]["s    #] ! D'disabcudw      xx  DGEF'bothgo     s"[ Reersp ...',m]["s    #] 0.'disabcudw0 f)f)ix[3#ultrobotgo     s"[ Viewd]["s    #] ! D'disabcudw      xx  D#GEF'bothgo     s"[ Viewd]["s    #] 0.'disabcudw0 f)f)iultrobotv =.textb sel""      xx  Dultrobotb    sAeca['View devices:t]["s    #] ! D'disabcudw      xx  DGEF'bothb    sAeca['View devices:t]["s    #] 0.'disabcudw0 f)f)ii
        xx  Dultrobotb    sAeca['View devices:t]["s    #] 0 D'disabcudw      xx  DGEF'bothb    sAeca['View devices:t]["s    #] 0.'(norma'0 f)f)ie(selafts Jrobotu2m U   self.u um Upu2m U elf.neweroBel, ru (ldef _'Smmt5)r=t[] t0 f)f)ie(seld.ne[bo
      hwh#   
    Smmt5)) > 0p 'bonu):
d.ne[bel0:f.matrix[3t0
    Smmt5) sn0,n1.0,n0.0retf.upda Smmt5) sn     xx  Dultretf.u      xx  DGEF'bothpro'OssCSmmt5)(retf.u elf.newBra'Smmt5)r=t Smmt5) 1:]0 f)f)iult]
  nu):
d.nenz)
      eGEF:
afts Jrobotu2m U   self.u um Upu2m U elf.newBra'both[.',lood.Di0 f)el, n)form(ldef _m.sin(r t0 f)f)ie(selwrs.s(m.sin(r Ey"\n"de0 f)el, /prseP0
  (ldef _m.sin(r, tar} Dlf,nx,ny,nz =tNotarnz)
      eGEF:
s   us.inhert('enddevm.sin(r, tarderoBuff,ny,nz)
      eult"\n"([[[[ sin(r. trip(x      xx  DGEF'boths   us.inhert('enddevm.sin(rse r_nge(4),ntNo
   m.sin(rs > 3elf.itrsin(r[:3n sel">>>"          DGEF# /prse it lf.idisplay it     xx  DGEF'boths   us.inhert('enddevm.sin(r[:3n(_# >>>     xx  DGEF'boths   us.inhert('enddevm.sin(r[3:],toreeT)troBuff(4),ntNo":"([[[[ sin(r1
      excGEFtprts[bo[ sin(r. plit(":"() ==     DGEF:
   s   us.inhert('enddevtprts[sn soblue")- f)f)iiiiiiif(otppinntprts[1:]:f.matrix[3  DGEF:
   s   us.inhert('enddev":"() ==     DGEFGEF:
   s   us.inhert('enddevt)troBuff(4),ntNo"="([[[[ sin(r1
      excGEFtprts[bo[ sin(r. plit("="() ==     DGEF:
   s   us.inhert('enddevtprts[sn soblue")- f)f)iiiiiiif(otppinntprts[1:]:f.matrix[3  DGEF:
   s   us.inhert('enddev"="() ==     DGEFGEF:
   s   us.inhert('enddevt)troBuff(4),ntNo
   m.sin(rs > 3elf.itrsin(r. trip(x[:-3n sel"p)tr      xx  DGEF'boths   us.inhert('enddevm.sin(r,toolernT)troBuff(4),ntNo
   m.sin(rs > 1elf.itrsin(r. trip(x[-1n sel"!r      xx  DGEF'boths   us.inhert('enddevm.sin(r,toreeT)troBuff(4),n            DGEF:
   s   us.inhert('enddevm.sin(rse r_nge:
   s   us.u2m U
)-0 f)el, wrs.s(ldef _sDtm, aar} Dlf,nx,ny,nz =asZ =t0
      try:
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      exc/pl:
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      origLen
  
   try:
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   s   us.see('endd() ===  tNonu):
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  Tal[r=te   aal[() ===    eifs
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    def _ngle'boths   us.u2m U
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  ,:'Smmt5)sdef _ngle""" Assum.sF'both[ co     s" ixpathe"""f _ngle[ co 0. self.frM cob    s(b =,val[=n
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    def _ngletNonu):
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ts.wr', se
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    def _ngle'boths   us.'Save (s    ='(norma'de _ngle'boths   us.dele U
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   setC      CSave (s   

tIexio'Save  elf.newBra'both
tIexio'Save .tas.(retf.u elf.newBrat0
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tcwd,3texenvidchdirf _ngleretf.upda""f _nglecwdpda:
tcwd(() ===  tNon  rtdir} el 'nz)
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ts.LoadF#  Dialog(GEF:, "Load "ix[f#  type tskelid\     xx  DGEF:
                     t exis].t exis]dir(s,Ey"/pluIexs/"ix[f#  typexe r_ngeasZ =t0
      retf.updad.Show(() ===    etNoretf.u} el1          DGEFdocpdad.GetF#  N
  ( fill = (4)s ]d.DialogC     d.Diill = (4)s ]retf.updadocelf.newBra,n            DGEFd.DialogC     d.Diill = ,sZ =t1
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   "fa#  d!t
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  ( fill = (4)d.DialogC     d.Diill = (4)retf.updadocelf.newchdir(cwd)f _ngleretpe()retf.ue0 f)el, f#  tas.dialog(GEF:, f#  type tskelids  rtdir} D'' __efault=lf,nx,ny,nz =impoDe    Ptools.jo Tplace) ===  tols.jot exis]ny,nz =impoDos tols.jo:
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      echdir(n  rtdir() ===  d 0. Kw]):
ts.Sas.F#  Dialog(GEF:, "Sas. "ix[f#  type tskelid_efaultF#  n
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      )
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      exc#adoubcu-click bug. What sh(xld wt , ?         Ddocpdad.GetF#  N
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    def _ngletNonu):

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tIexionu
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 se val =yExc_,t"robs V  selfefirst")
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tIexionu
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tIexionu
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 se val =yExc_,t"robs V  selfefirst"e0 f)el, 'nabcuMoitoe
    def _ngletNonu):

tIexionu
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tIexionu
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xe r_nge,ny,nz)
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 se val =yExc_,t"robs V  selfefirst")
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 pf#    D:
   f#  erspdialog("w{
 ps","*.pyt,,n1.0,n0.0,ny,
                                eeeerobotsastDir.text"%s-w{
 p"hrenimD MaorN)
 0,n1.0,n0.0,ny,
                                eeeeeeeeeeeeeeeeee ee"%s/pluIexs/w{
 ps/%s/"i%,n1.0,n0.0,ny,
                                eeeeeeeeeeeeeeeeee ee(t expath,DnimDirN)
 ))de _ngle  Dz = [3,ntNorimD MaorN)
   el"Stn(rSimD Maor"          DDDDDDD  Dw{
 pf#    D:
   f#  erspdialog("w{
 ps","*.cfg"0,n1.0,n0.0,ny,
                                e eerobotsastDir.text"%s-w{
 p"hrenimD MaorN)
 0,n1.0,n0.0,ny,
                                eeeeeeeeeeeeeeeeee ee"%s/pluIexs/w{
 ps/%s/"i%,n1.0,n0.0,ny,
                                eeeeeeeeeeeeeeeeee ee(t expath,DnimDirN)
 ))de _ngle  Dz = [3,n   .yiolerc/pl():
    w{
 pf#    D:
   f#  erspdialog("w{
 ps","*.w{
 p",,n1.0,n0.0,ny,
                                e eerobotsastDir.text"%s-w{
 p"hrenimD MaorN)
 0,n1.0,n0.0,ny,
                                eeeeeeeeeeeeeeeeee ee"%s/pluIexs/w{
 ps/%s/"i%,n1.0,n0.0,ny,
                                eeeeeeeeeeeeeeeeee ee(t expath,DnimDirN)
 ))de _ngle  Dz = [3ultw{
 pf#    el""    w{
 pf#    el0          DDDDDDD  Deanup(ny,nz ==========nu):
sastDir["%s-w{
 p"hrenimD MaorN)
 ] elntring.jose(w{
 pf#  . plit('/'x[:-1],'/'xf.matrix[3,n   .yiolerc/pl():imD MaorN)
    w{
 pf#  f.matrix[3===nu):
sastDir["%s-w{
 p"hrenimD MaorN)
 ] elntring.jose(w{
 pf#  . plit('/'x[:-1],'/'xf.matrix[3nEF:

tIexi.w{
 pf#     w{
 pf#  f.matrix[3GEF:

tIexi.simf#     ff.matrix[3t exPIDpdaos.texpid(xf.matrix[3ultos.e)
  in ['nt', 'dos', 'os2']  .yiolerc/pl()#dFIXME:ntassum.sFprogram    runa3t thon program;dhow w   Ewe know?.yiolerc/pl()#d'Sxld leave[ou p"t thon"  'bow,    s w   Eask.yiolerc/pl()t0
   "n  rt}t thon %so%do%sthre(:, t exPID, w{
 pf#  de _ngle  Dz =os.GpoDt ("n  rt}t thon \"%s\" \"%d\" \"%s\"thre(:, t exPID, w{
 pf#  d)troBuff(4),ntNoos.e)
  in ['posix']:f.matrix[3  Dos.GpoDt (fix[("o%dothret exPIDs,Eyw{
 pf#   Ey" &T)troBuff(4),n            DGEF0
 se Attribut=yExc_,t"you  OS (%s)[]
  supls.jep"hreos.e)
          D0 f)el, erspR    
    def _nglefpda:
   f#  erspdialog("exis]s","*.pyt,erobotsastDir.text"nu
  ", ''x)f _ngleif f !el '  'bof !el0:f.matrix[3nu):
sastDir["nu
  "] elntring.jose(f. plit('/'x[:-1],'/'xf.matrix[3nu):
free   se(() ===  gleGEF:
freeR    
)f _ngle leGEF:

tIexi.erspR    
f() ===  gle#iltrobot
tIexionu
   .yiolerc/p#i()f(otpyrobot.nDrobot
tIexionu
  .builtindevices:.yiolerc/p#i() leGEF:
[ co     s"["Built-.nDDevices"].add_'Smmt5)(label=pyrobo,'Smmt5)=lambda:try:
st rtdevice
pyrobo)dt0 f)el, freeR    
    def _nglenu):
free   se(() ===  robot
tIexionu
  f#    D''  ===  robot
tIexiofreeR    
)f0 f)el, INTht5)lse(ldef _signum, fr)
 ),ny,nz =t0
   "STOP ----------------------------------------------------"z)
    robottriedToS, q[+bo       htNonubottriedToS, q[> 1nz)
      eos.GpoDt ("k   dow'-9Dp exis]"() ===  robot
tIexiopleaseStop()- f)f)iGEF:
c     d.Di0 f)el, n)form(ldef _m.sin(r t0 f)f)it0
   m.sin(rf _ngle0 f)el, f#  tas.dialog(GEF:, type tskelids  rtdir} D''x,ny,nz =""" rbos aenu:
[impoDusse """f _nglet0
   "\nF#  n
  : t - f)f)islof.updaa:f)f)ch',w Tosnu:
(xe r_ngeretf.updaretf.u. Tplace("\n"al"")f _ngleretf.updaretf.u. Tplace("\r"al"")f _ngleslope()retf.ue0 f)el, new   se(    def _ngle"""f _ngleTk gui of.fridesnt[ ucod.f _ngle"""f _ngletpl: t exis]/gui/'Sa o  .py0100755000076400003100000000320110564221504015032 0un  r  dblankfaculty#Dp exis].guih'Sa o  
#
#nTaD al[rou pu pfacilityf    
  exrclebase.
#nitmodeles afts  
  e(normaa:f)log(3) 
#
#nItprettyfsimple.
#

#isdal : July 10, 2006 addes logg  Ptas we  Easet0
  
ools.jologg  P

#f.fbosityflevels
FATALglebo
 ERRORglebo1
WARNINGebo2
INFO glebo3
DEBUGglebo4

#f.fbosityfntrings
f.fbosityM.sin(rr=t["fatal","eExc_","war,  P","n)fo","debug"]

f.fbosityLevelebo4
USE_COLORgbo
 
el, 'Slorize(txt,D Su ef _ng"""Rlope()'SlorizedD al["""f _ng'Slx = { 'fatal':1, 'n)fo':2, 'war,  P':3, 'debug':4,a"eExc_":1}i    # fatal,eExc_ -  TK, n)fo - olern, war,  P - ye  owid_ebug - b f)ny,nzinitcode} D'\033[;3'  ===endcode}} D'\033[0m'  ===tNoime,('Su  selime,(1s) e r_nge(4slope()initcode}x[2tr('Su  + 'm' + txt + endcodee r_nasZ 4slope()initcode}x[2tr('Sus['Su]  + 'm' + txt + endcodee r_ntxZ =t14slope()txt 
el, log(level _m.sin(r t0 f)ftNo
 vele<= f.fbosityLevelnz)
      tNo]
  USE_COLOR1
      excGEFt0
   m.sin(rf _nglege,ny,nz)
      eGEFt0
   'Slorize(m.sin(r,tlevel elf.ntNo
 vele el fatal'    
 vele elFATALnz)
      #nisdal : fixedD fatal' vslFATAL check.yiolerc/logg  P.critical(m.sin(rse r_nge(40
 se m.sin(rf _ngtNo
 vele elERROR:.yiolerc/logg  P.eExc_(m.sin(rse r_n,ntNo
 vele elWARNING:.yiolerc/logg  P.war,(m.sin(rse r_n,ntNo
 vele elDEBUG:.yiolerc/logg  P._ebug(m.sin(rse r_n,ny,nz)
      logg  P.i)fo(m.sin(rse
el, logDebug(m.sin(rsnz)
  log(DEBUGevm.sin(rse r_n
el, logI)fo(m.sin(rsnz)
  log(INFOevm.sin(rse r_n
el, logWar,(m.sin(rsnz)
  log(WARNINGevm.sin(rse r_n
el, logEExc_(m.sin(rsnz)
  log(ERRORevm.sin(rse r_n
el, logFatal(m.sin(rsnz)
  log(FATALevm.sin(rse r_n
el, setV.fbosity(levelsnz)
  f.fbosityLevelebolevel
 t exis]/gui/pls]/0040755000076400003100000000000010745440007014002 5un  r  dblankfacultyt exis]/gui/pls]/__init__.py0100755000076400003100000000000010120241151016063 0un  r  dblankfacultyt exis]/gui/pls]/h
  on.py0100755000076400003100000000646110260524106015655 0un  r  dblankfaculty# -------------------------------------------------------
#nH
  on Diagram
# -------------------------------------------------------

impoD self.feools.jo*
tols.joo:

t.mov H
  oneD#DPls]ny,nel, __init__
    , blockx = 1, tit    DtTre, widthpda275, max   f)r=t1.0, x   = Dlf,nx,ny,nz ="""f _ngleArguintes:
f _ngleblockx: 
  es  rt  P number lfhvecitoe[to pls] [1neuff(4)tit  : 
  etit   oE"int Pls]ow,     [h
  on@$HOSTNAMEneuff(4)width: 
  es  rt  P widthpoE"int pls]ow,     [275neuff(4)max   f):nTe)maximum)magnitudepoE"int pls]s [1.0neuff(4)x   :nTe)vecito[to initialize"int pls]ow,thp[lf,n]ny,nz ="""f _ngleGEF:
apq[boTk
xe r_gleGEF:
apq.wm_s    ('w,thKrawnw() ==   :
   w, [boToplevel
xe r_gleGEF:
max   f)=max   f)) ==   :
   w,dth=w,dth      htNox   :z)
      eblockx = 
   x   )z)
    :
    eight = 
  (abs(widthp/ ftanc(blockx)x)f _ngleif tit    botTre)kIs  r_ngenu):
w, .wm_tit  ("h
  on@%s:"%os.texenv 'HOSTNAME'x)- f)f)i,n   .yiolerc/pnu):
w, .wm_tit  (tit  )- f)f)iGEF:
canvax = Canvax(nu):
w, ,w,dth=:
   w,dth, eight=:
    eight() ==   :
   w, .binp("t,erobotch    Siz )- f)f)iGEF:
canvax    se{'fill':'is] ', 'expand':1, 'lf.f': 'left'}() ===  robot
ven
  0      htNox   :z)
      erobotu2m U x   )z)
    ,n   .yiolerc/pnu):
u2m U [1.0n *eblockxder,)   #:
   w, .aspeci(:
   w,dth - 60, :
    eight + 32,trobotw,dth - 60, :
    eight + 32)
.yiolerc/ny,nel, setTit  (GEF:, tit  ):) ==   :
   w, .wm_tit  (tit  )-ny,nel, ch    Siz   def __vnted:) ==   :
   w,dthpda:
   w, .wi)fo_w,dth() - 60
lerc/pnu):
u2m U nu):
sast)f _ngle0 f)el, u2m U
     tvecdef _ngle#indo a copy lfhvec,nsoDwe canmodifyEacef   f)vf    bounds check  P
lerc/pnu):
sast = f.ce r_ngevecito[= f.c[:]0 f)f)iultrobot
ven .yiolerc/plabel} D'
ven'.yiolerc/plast = 'odd'z)
    ,n   .yiolerc/plabel} D'odd'z)
    c/plast = '
ven'.yiolerrobot
ven
  ]
  nu):

venf _ngleblockxize"= abs(:
   w,dthp/ ftanc(
  (vecito)x)f _ngleb   blockxize"/ 2.0
lerc/py[bobf _nglefto[v          (
  (vecito)x .yiolerc/ptNovecito[v] < 0.0          DDDD'Slor = 'red'z)
    c/p,ny,nz)
      eGEF'Slor = 'black'z)
    c/p#iltte)vecito[is oleaf.feon)magnitudepthanmax   f), :
t it     xx  D#to max   f)r 'boch    Dacef'Slto[to indicm U[acat i ms out     xx  D#lfhbounds.yiolerc/ptNovecito[v] >eGEF:
max   f)          DGEFfecito[v] =eGEF:
max   f)z)
      eGEF'Slor = 'gray50'z)
    c/p,ntNovecito[v] < -GEF:
max   f)          DGEFfecito[v] =e-GEF:
max   f)z)
      eGEF'Slor = 'pink'z)
    c/px   blockxize"*[v +obf _ngle ():ize"= abs(fecito[v]/ftanc(GEF:
max   f))) *eblockxize"*[.8"/ 2.0 e r_nge(4)asZ      xx  DGEF'EF:
canvax 3bosue_p=tv   le(x - xize0,n1.0,n0.0,ny,
                           y - xize0,n1.0,n0.0,ny,
                           x}x[2ize0,n1.0,n0.0,ny,
                           y x[2ize0,n1.0,n0.0,ny,
                           w,dthpda00,n1.0,n0.0,ny,
                           tag = 
abel0,n1.0,n0.0,ny,
                           fill   'Slor fill = (4)txZ =t1
      excGEFtpl:       asZ      xx  D'EF:
canvax dele U
sast)f _ngle,sZ =t1
      exc/pl:       wh#   :
   w, .tk.doTre_vnte(2):e/pl:
0 f)el, dentroy
    def _nglenu):
w, .dentroy
)e0tNo__n
  __} el __[.',__'nz)
 h
  on1pdaH
  on(6)z)
 h
  on1
u2m U [0.0, 1.0, .5, 0.0, -1.0, -.5])z)
 h
  on2pdaH
  on(7)z)
 vr=t[1.0, 1.0, 1.0, 1.0, -1.0, 1.0, -1.0, -5.0neuffh
  on2
u2m U v)z)
 t0
   vz)
 h
  on1
w, .[.',loop()-t exis]/gui/pls]/map.py0100644000076400003100000000172407670766732015155 0un  r  dblankfaculty# -------------------------------------------------------
#nSimple Map
# -------------------------------------------------------

tols.jo self.f

t.mov Map( self.frTks) e r_nCOLORSr=t['b f)', 'red', 'v  ', 'ye  ow', 'o     ', 'black'0,n1.0,n0.0,ny,
'azure', 'beige', 'brow ', 'co  l', 'gold', 'ivory'0,n1.0,n0.0,ny,
'moccasi ', 'navy', 'salmon', 'v  ', 'ivory']0 f)fel, __init__
    ,  self, e)
 x .yiolerc/ self.frTk.__init__
    d.yiolerc/nu):
 selfeifexis]ny,nlerc/nu):
e)
    e)
          nubottit  ("Mapto%sthree)
 x         nubotcanvax =  self.frCanvax(nu):,w,dth=400, eight=400x         nubotcanvax    sex         nubotu2m U_idle asksex         nubotproto'Sl('WM_DELETE_WINDOW',GEF:
c os x     el,   ose(    def _nglelenu):
w,thKrawex         nubotu2m U_idle asksex         nubotdentroy
)e    el,  TKraw(    , opatrix = {}def _nglele#ado so[ uc  Pt
o eraw_you              nubotu2m U_idle asksex 0tNo__n
  __} el __[.',__'nz)
 omap = Map(0, '2D Mapw() == map.[.',loop()-t exis]/gui/pls]/matrix.py0100755000076400003100000000670307672264244015702 0un  r  dblankfaculty# -------------------------------------------------------
#nMatrix Pls]o(Images)
# -------------------------------------------------------

impoD self.feools.jo*
tols.joo:

t.mov MatrixeD#DPls]ny,nel, __init__
    , 'Slx = 1,  swx = 1, tit    DtTre, widthpda275,,n1.0,n0.0,ny,
   eight = 275, max   f)r=t255.0, x   = Dlf,n, type = 'grid'x,ny,nz ="""f _ngleArguintes:
f _ngle"""f _ngleGEF:
type = typef _ngleGEF:
apq[boTk
xe r_gleGEF:
apq.wm_s    ('w,thKrawnw() ==   :
   w, [boToplevel
xe r_gleGEF:
max   f)=max   f)) ==   :
   w,dth=w,dth      h:
    eight =  eight- f)f)iGEF:
cSlx = cSlx- f)f)iGEF:
 swx =  swxf _ngleif tit    botTre)kIs  r_ngenu):
w, .wm_tit  ("matrix@%s:"%os.texenv 'HOSTNAME'x)- f)f)i,n   .yiolerc/pnu):
w, .wm_tit  (tit  )- f)f)iGEF:
canvax = Canvax(nu):
w, ,w,dth=w,dth, eight= eight() ==   :
   w, .binp("t,erobotch    Siz )- f)f)iGEF:
canvax    se{'fill':'is] ', 'expand':1, 'lf.f': 'left'}() ===  robot
ven
  0      htNox   :z)
      erobotu2m U x   )z)
    ,n   .yiolerc/pnu):
u2m U [1.0n *ecSlx *  swxx         ny,nel, setTit  (GEF:, tit  ):) ==   :
   w, .wm_tit  (tit  )-ny,nel, ch    Siz   def __vnted:) ==   :
   w,dthpda:
   w, .wi)fo_w,dth() - 2      h:
    eight = :
   w, .wi)fo_ eight() - 2      h:
   u2m U nu):
sast)f _ngle0 f)el, u2m U
     tvecdef _nglenu):
sast = f.c[:]0 f)f)iultrobot
ven .yiolerc/plabel} D'
ven'.yiolerc/plast = 'odd'z)
    ,n   .yiolerc/plabel} D'odd'z)
    c/plast = '
ven'.yiolerrobot
ven
  ]
  nu):

venf _ngletNonubottype == 'so['nz)
      ex_blockxize"= 
  (l
   w,dthp/ ftanc(GEF:
cSlx + .5x)- f)f)i,n   .yiolerc/px_blockxize"= 
  (l
   w,dthp/ ftanc(GEF:
cSlxx)- f)f)iy_blockxize"= 
  (l
    eight / ftanc(GEF:
 swxx)- f)f)ix_b"= x_blockxize"/ 2.0
lerc/py_b"= y_blockxize"/ 2.0
lerc/pfto[r          (GEF:
 swxx .yiolerc/pfto[c          (GEF:
cSlxx          DGEFf =   * GEF:
cSlx + c         DGEF'Slor = "gray%p"hre
  ((fec[v] /eGEF:
max   f)) *e100.0) e r_nge(4):
 x"= x_blockxize"*ec + x_be r_nge(4):
 y"= y_blockxize"*   + y_be r_nge(4):
 asZ      xx  DGEF   tNonubottype == 'grid'          DDDDDDD  D'EF:
canvax 3bosue_p=tv   le(x - x_b0,n1.0,n0.0,ny,
                                ey - y_b0,n1.0,n0.0,ny,
                                ex + x_b0,n1.0,n0.0,ny,
                                ey + y_b0,n1.0,n0.0,ny,
                                ew,dthpda00,n1.0,n0.0,ny,
                                 tag = 
abel0,n1.0,n0.0,ny,
                                 fill   'Slor fill = (4))))))),n    # so[,n1.0,n0.0,ny,
    tNorhre2 == 1          DDDDDDD  D  ex += x_be r_nge(4):
       'EF:
canvax 3bosue_oval(x - x_b0,n1.0,n0.0,ny,
                            y - y_b0,n1.0,n0.0,ny,
                            x + x_b0,n1.0,n0.0,ny,
                            y + y_b0,n1.0,n0.0,ny,
                            w,dthpda00,n1.0,n0.0,ny,
                            tag = 
abel0,n1.0,n0.0,ny,
                            fill   'Slor fill = (4))))asZ =t1     xx  DGEF   tpl:       asZ      xx  D'EF:
canvax dele U
sast)f _ngle,sZ =t1
      exc/pl:       wh#   :
   w, .tk.doTre_vnte(2):e/pl:
0 f)el, dentroy
    def _nglenu):
w, .dentroy
)e0tNo__n
  __} el __[.',__'nz)
 matrix1 = Matrix(3, 2, type = 'grid', max   f)r=t1)z)
 matrix3 = Matrix(3, 2, type = 'so[', max   f)r=t1)z)
 matrix1
u2m U [0.0, 1.0, .5, 0.0, .74, .5])z)
 matrix3
u2m U [0.0, 1.0, .5, 0.0, .74, .5])z)
 matrix2 = Matrix(4, 2, type = 'so[', max   f)r=t5)z)
 vr=t[1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 5.0, 5.0]z)
 matrix2
u2m U v)z)
 matrix1
w, .[.',loop()-t exis]/gui/pls]/scatf.frpy0100755000076400003100000003200010745440007016014 0un  r  dblankfaculty# -------------------------------------------------------
#nScatf.fDPls]f.f
# -------------------------------------------------------

impoD self.feools.jo*
tols.joo:

t.mov Lu:
:f.matel, __init__
    , x, y, nu:
Id, po  sIddef _nglelenu):
x"= xf _nglelenu):
y"= yf _nglelenu):
nu:
Id = 
u:
Id         nubotpo  sId = po  sId

t.mov Scatf.f(Toplevel ef _ng"""f _ngScatf.f(Tpolevel elf.napq[bolf,n,elf.nxLabel} Dlf,n,elf.nyLabel} Dlf,n,elf.nlege5)r=tlf,n,elf.ntit    DtTre,elf.nw, Tit    D"P exis]nScatf.fDPls]",elf.nw,dthpda400,elf.n eight = 300,elf.n ifioiy Dlf,n,elf.nlu:
'Sx  [bo1,elf.nxS  rt}  0.0, xE5)r=t1.0,elf.ncon:
'tPo  ss[bo1,elf.nyS  rt}  0.0, yE5)r=t1.0 ef _ng"""f _ngCOLORgbo['b f)', 'red', 'olern', 'ye  ow', 'o     ',     xx  DGEF 'black'0
'azure', 'beige', 'brow ', 'co  l',     xx  DGEF 'gold', 'ivory'0
'moccasi ', 'navy', 'salmon',     xx  DGEF 'v  ', 'ivory', 'pink', 'violet', 'cyan',     xx  DGEF 'magenta'0
'aquamaru:
'0
'khaki', 'sea olern', 'hs]npink',     xx  DGEF 'sienna'0
'tomato', 'o chid', 'co nftaw.fDb f)', 'deep skyDb f)',     xx  DGEF 'foitst olern', 'rosyDbrow ']0 f)fel, __init__
    , apq[bolf,n,nxLabel} Dlf,n,nyLabel} Dlf,n,nlege5)r=tlf,n,elf.nnnnnnnnnnnnnntit    DtTre, wi Tit    D"P exis]nScatf.fDPls]",elf.nnnnnnnnnnnnnnw,dthpda400,n eight = 300,elf.nnnnnnnnnnnnnn ifioiy Dlf,n,nlu:
'Sx  [bo1,nxS  rt}  0.0, xE5)r=t1.0,elf.nnnnnnnnnnnnnncon:
'tPo  ss[bo1,nyS  rt}  0.0, yE5)r=t1.0 ef _ngggggToplevel.__init__
    , apq fill = (4tNo
 ge5)r=botTre)kIs  r_ngel()lege5)r=t[''n *elu:
'Sx  kIs  r_ng,ny,nz)
      eGEFlege5)r=tmap(ntr,nlege5) fill = (4tNo ifioiyr=botTre)kIs  r_ngel() ifioiyr=t[100n *elu:
'Sx  kIs  r_ngultwi Tit    botTre)kIs  r_ngel()nu):
wm_tit  ("scatf.f@%s:"%os.texenv 'HOSTNAME'x)- f)f)i
 ,n   .yiolerc/pl():
   wm_tit  (wi Tit  x         nubotxLabel} DxLabelf _nglelenu):
yLabel} DyLabelf _nglelenu):
con:
'tPo  ss[bocon:
'tPo  ssf _nglelenu):
w,dthpdaw,dth      h h:
    eight =  eight- f)f)i  nubottit   = tit  kIs  r_ngultnu):
yLabel .yiolerc/pl():
   leftBordse 0.70- f)f)i
 ,n   .yiolerc/pl():
   leftBordse 0.45kIs  r_ngultnu):
tit  :.yiolerc/pl():
   topBordse 0.45kIs  r_ng,n   .yiolerc/pl():
   topBordse 0.10kIs  r_ngultnu):
xLabel .yiolerc/pl():
   is]tomBordse 0.70- f)f)i
 ,n   .yiolerc/pl():
   is]tomBordse 0.45kIs  r_ngnubotpls]Height = :
    eight - (GEF:
topBordse +):
   is]tomBordsex         nubotpls]W,dthpdagnubotpls]Height          nubotxS  rt}  xS  rt         nubotxE5)r=txE5)f _nglelenu):
yS  rt}  yS  rt         nubotyE5)r=tyE5)f _nglelenu):
lu:
'Sx  [bolu:
'Sx  kIs  r_ng:
   lege5)r=tlege5)kIs  r_ng# ----------------------------------------------------------
 _nglelenu):
lu:
CSx  [bonu):
lu:
'Sx        h h:
    ist = [0n *enu):
lu:
'Sx  [# actual) ifi lfhlexii     D h:
    istoiyr=t ifioiy[:]p#ihistoiyr'Sx  vf    eachhlexii     D h:
   x   = D[]p#ikeeps tracks lfhlexisr 'bopo  ss[Krawn,pfto[rTKrawi     D h:
   firstEvse 0.[0n *enu):
lu:
'Sx  
 _nglelenu):
last = [0n *enu):
lu:
'Sx  f _nglelenu):
cox  [bo[0n *enu):
lu:
'Sx  f _nglelenu):
dlfeif2f _nglele    #         fnu):
lu:
'Sx  ) .yiolerc/pl():
   hist[i][bo[0n *e ifioiy[i].yiolerc/pl():
   firstEvse[i][bo1.yiolerc/pl():
   last[i][bo0.yiolerc/pl():
   'Sx  [i][bo0.yiolerc/# b  sgroundf _nglelenu):
canvax = Canvax(nu):, width=w,dth,  eight= eight() ==   ():
   iinp("t,erobotch    Siz )- f)f)i)iGEF:
canvax    se{'fill':'is] ', 'expand':1, 'lf.f': 'left'}() ===  )iGEF:
inCh    Siz [bo0.yiolerc/GEF:
init_graphicsex         0 f)fel, init_graphicse    def _nglelenu):
canvax dele U
'graph')- f)f)i)iGEF:
canvax dele U
'object')- f)f)i)iGEF:
canvax 3bosue_p=tv   le(:
   leftBordse0,n1.0,n0.0,ny,
                       GEF:
topBordse0,n1.0,n0.0,ny,
                       GEF:
leftBordse + nubotpls]W,dth0,n1.0,n0.0,ny,
                       GEF:
topBordse + nubotpls]Height0,n1.0,n0.0,ny,
                       #:
    eight - :
   is]tomBordse0,n1.0,n0.0,ny,
                       tag = 'graph'0,n1.0,n0.0,ny,
                       w,dthpda1, fill='white')- f)f)i)i# tit  kIs  r_ngGEF:
canvax 3bosue_ al[(l
   w,dthp/ 2.0, 130,n1.0,n0.0,ny,
                  tag = 'graph'0,n1.0,n0.0,ny,
                   al[=nu):
tit  _nvax11(raph')- f)f)i)iGEF:
canvax de   e E1wcan
t.mov MatrixeD#DPllllllllllllllllllllllllll                 igle2
                            y + y_b0,n1.0,n)- f)f)i)iGEF:
canvax de   e E1wcan
-
  
t.mov MatrixeD#DPllllllllllllllllllllllllll                 igle2
-
  
t.mov MatrixeD#DPllllllllllllllllllllllllll                 #:
    eight - :
   is]tomBordse0,nnnnn1.0,n0.0,ny,
        rt}  i].)  al[=nu):
tit  _nv          f)i)iGEF:
canvax de   e E1wcan
-
 2
                            y + y_b0,n                 igle2
-
 8                            y + y_b0,n2.0, 130,ntag = i].0.0,ny,
                                  y + y_b0,n2                #:
    eight - :
   is]tomBordse0,anchor                 ac0
's :
topB         tickf,n,nl  eight - xtick_0 f)f)iu(GEF:
topBo eight - F   tptickf< [bo1u} el"'Edi"    t  _nv          f)i)iGEF:
canvax de   e E1wc*ptick                            y + y_b0,n                GEF:
topBordse -
  
t.mov MatrixeD#DPlllllllllllllllllllll2                #:
    eight - :
   is]tomBordse0,2.0, xtick_0 f)f0.0,ny,
                    t  _nvldir('L') f)i)iGEF:
canvax de   e E1wc*ptick                            y + y_b0,n                GEF:
topBordse --n
t.mov MatrixeD#DPlllllllllllllllllllll     f)i)iGEF:
canvax de   e E1wc*ptick                            y + y_b0,n                GEF:
topBordse -
 
t.mov MatrixeD#DPlllllllllllllllllllll2                #:
    eight - :
   is]tomBordse0,tols.joo:0.0,ny,
                    tickf+ [bo1   4.hist[i][bo[0n xtick_0 f)f)+ [(Bordsex   -u(GEF:
topBo)   4.hist[i][bo#,
    p#iow/",Eyrp("<:         tickf,n1.hist[i][boytick_0 f)f)iu(GEF:ytopBo eight - F   tptickf>= blockxize"/ 2.0
lt  _nv          f)i)iGEF:
c-e.
#                           y + y_b0,n                 s]Height = :
   *ptick                            y + y_b0,nanchor   'hs]npink',                            2                #:
    eight - :
   is]tomBordse0,2.0, ytick_0 f)f0.0,ny,
                    t  _nvldir('L') f)i)iGEF:
c-n
t.mov MatrixeD#DPlllllllllllllllllllll                 s]Height = :
   *ptick                            y + y_b0,n     f)i)iGEF:
can
t.mov MatrixeD#DPlllllllllllllllllllll                 s]Height = :
   *ptick                            y + y_b0,n2                #:
    eight - :
   is]tomBordse0,tols.joo:0.0,ny,
                    tickf- [bo1   4.hist[i][bo[0n ytick_0 f)f)+ [(Bordsyx   -u(GEF:ytopBo)   4.hist[i][bo:.yiolerc/pl():
   topBordse 0.45nv          e   e E1wc/2   s]Hei'graph')- f)f)i)iGEF:
canvax dele U
'object')- f                GEF:
topBordse /2                            y + y_b0,n2.0, 130,nc/pl()                            y + y_b0,n2  =           #:
    eight - :
   is]tomBordse0,0,ny,
                glelenu):
w,dthpdaw,dth      h h:nv     2
                            y + y_b0,n                 (s]Height = :
   -  w,dtlenu):
w,dt    D3))/2                            y + y_b0,n2.0, 130,ny/pl()                            y + y_b0,n0.yiol2                            y + y_b0,nanchor "n _ngle  Dz = [3,n   .yiolerc/pl():
    2  =           #:
    eight - :
   is]tomBordse0,0,ny,
                #Eyret].guihiy[:]p#i.nD,sZT==  gle#ilti lf,al) ifi lfhlel) ifi lf, []         #Eguin(   through     DG-addmaxTBl(    as4)max  _n
ela._haslx *  simpoD self.fn1.0,tTBl,n  
canvax    se{   gle,tTBobjectBriy[:]eeeeeeee ee(t expatl) ifadd  nub(e,tTBo1.0.,tTBo2.0.,tTBo3],swxx .yio,tTBo4],o[v] =e-,tTBo5.)  al[=nu):
ti:
max,tTBobjectBr,sZTbeeeeeee ee(t expatl) ifadd----(e,tTBo1.0.,tTBo2.0.,tTBo3],s,tTBo4],o,tTBo5.,o,tTBo6.)  al[=nu)# h h::
'0
rc/GEF:
init_graphhhhh:1, 'lf.fx *  swxx         ny,n DPls]ny,nel, __  glelenu)iz )- f)f)i):th,DnimDirN)
 ))    Siz )- f)f)i)iGE1nel, __  glelenu)pl():
   leftBordse 0.70- f)f)i
 ,n   .yiolerc/pl():
   leftBordse 0.45kIs  r_ngultnu):
tit  :.yiolerc/pl():
   topBordse 0.45kIs  r_ng,n   .yiolerc/pl():
   topBordse 0.10kIs  r_ngultnu):
xLabel .yiolglelenu):
w,dthpdaw,dth      h h:
    eight =  eight- f)f)i  nubottit   = tit  kIs  r_ngultnu):
yLabel .           h    Siz  
   w, .wm_u:
CSx  [bonu):nel, ch    Siz   __vnted:) =u:
CSx  [bonu)l():
   is]tomBordse 0.70- f)f)i
 ,n   .yiolerc/pl():
   is]tom=u:
CSx  [bonu)l():ngnubotpls]Hei:
u2m U'L') f)i)iGEF:
c-n2
-- fmax( ge5ltal'130,ntag =  'pin12)   taftrp("= (GEF:
topBo     xf< [Bordsex   a= 'graph'0,,,,,,,,,yf>= (GEF:ytopBo     yf< [Bordsyx      al[=nu):
ti tas.diz)
 mat el() if: 1,  siy[:]assuodef 2.0
l%f,%f)do%stx---init_graphhhhhh,DnimDirN)
 ))     z fill = (4'[v] =e-s  r_e __init__
 otaddmaxT.iy[:]p#skse lf,     as4)odef _ngl   ,n   kIs  r_e lf="""ern( (riy[:]eghx---------,swxx .,,[v] )           glelenu)ioiy[i----]f>= (GEF:lenu):
d----]nubottit   = tit  k oiy[i----]fiolerc/pl():
 ] < 0.re.u ef ef _0.rear, 0 f)  eGEF'Slor n, war, (GEF:lenui----][it  k oiy[i----]])   f owid_ebubottit   = tit  k         0 f)f (GEF:lenui----][it  k oiy[i----]]_init__
              t  _  0 f)f (GEF:lenui----][it  k oiy[i----]]_  sIddef)GEF'Slor n, war, (GEF:/pl()----])   f owid_eu):
sastDi         nubo    , apq fill pl(_x]tomBord x (GEF:/pl()----].x)   , apq fill pl(_y]tomBord y (GEF:/pl()----].y              t  _  0 f)f (GEF:/pl()----].----

im             t    eeeeee ee(t expatl) if/pl()----].----

i]tomBord[,n1.0,n0.0,ny,
    pl(_x]  DGEF'EF:
canvax 3bosue_p=tv   le(x - xize0,n1.00000000000000000000000000 pl(_y]  DGEF'EF:
canvax 3bosue_p=tv   le(x - xize0,n1.00000000000000000000000000 pl(_,n0.0,ny,
                           y - xize0,n1.00000000000000000000000000 pl(_y]0.0,ny,
                           y - xize0,n1.00000000000000000000000000                               ey + y_b0,n1.0,n0.0,ny,
                       kIdict_ l, init e,sZT%d' %e,sZT)pda1, fill='white')- f)f)i)i# tit                                   ,ny,
                            tag = 
abel0,n1.tpl:         D r_nge(4):
 x"= xmy_x]tomBord x x)ge(4):
 x"= xmy_y]tomBord y y              glelenu)         f----]nubottit   = tttttlenu)         f----]iGEF:
canvax         lii]to-lu:
'Sx  ) .yi      stDi         nubo    , apq fill    lpl(_x]tomBord x (GEF:/pl()----].x)   , apq fill    lpl(_y]tomBord y (GEF:/pl()----].y                  lii]to    def _nglelenu):ldir(lpl(_xpda1, fill='white')- f)f)i)i# tit               lpl(_ypda1, fill='white')- f)f)i)i# tit               my_xpda1, fill='white')- f)f)i)i# tit               my_ypda1, fill='white')- f)f)i)i# tit               1.0,n0.0,nda1, fill='white')- f)f)i)i# tit                kIdict_ l, init e,sZT%d'%,sZT)pda1, fill='white')- f)f)i)i# tit               ,ny,
  ow ',              pii]to    def _nglelenu):,
   my_x]  DGEF'EF:
canvax 3bosue_p=tv   le(x - xize0,n1.00my_y]  DGEF'EF:
canvax 3bosue_p=tv   le(x - xize0,n1.00my_,n0.0,ny,
                           y - xize0,n1.00my_y]0.0,ny,
                           y - xize0,n1.00n0.0,ny,
                            y + y_b0,n1.0,n0.0,dict_ l, init e,sZT%d'%,sZT)pda1, fill='white')- f)f)i)i# tit           ,ny,
                     (GEF:lenui----][it  k oiy[i----]]
  ----(x-----------id              (GEF:/pl()----] = (GEF:lenui----][it  k oiy[i----]]ubottit   = tit  k oiy[i----]f+GE1nel, __             tag = 
abel0,n1.0,n0   defD  D     tag = 
ab# h h:WM_DELETE_WINDOW',GEF:
c os = tit  k = 'so[1.0n *hid',  h:
    eiebubottit  F   tpl:   asZ      xx  D'EF:
canvaopatrix = {}def _nglele#ado so[---------------0,n0.kf,nccasi ', '',GEF:
#asZ         nubotps', '):
nu:
Itknubotp-----f 2d----------f 2d--ubotp-p,nyn0.0,ny,
 100mpoD self.fn1.0xn0.0,ny,
 10ebubottit   = tipfadd  nub(f 2d--(os.f 2d--(os.     ="n', ")ubottit   = tipf = 'so[1. = tipf
 vr=t[1.0,z)
 matrix1
w, .[.cility) == map.[.',loop()-t exis]/gui/pls]/matrix.py71323033116360100755000076400003100000003200010745440007016014 0un  r  dblankfacultya# -------------------------------------------------------------------f 2d--u-----  
)f _n------eGEF:
--------------.shareas shareu):
x"= xcilit(eGEF:
--------------------------------------------------

tols.jo self.f

t.mov Map( self.frTks) e r_nCOLORSr=t['b f)', 'red', 'v  ', 'ye  ow', 'o     ', 'black'0,n1.0,n0.0,ny,
'azure', 'beige', 'brow ', 'co  l', 'gold', 'ivory'0,n1what,lf,n,elf.nnnnnnnnnnnnnn120ebubottit  eGEF:
)r=t1.0,elf.nnnn"view"_graphicse    delf _nglelenu):
yLabel} DyLabelf _nglelenu):
con:
'tPo  whatnglehat):
con:
'tPo  y']0 f)fel, __init__
    , e lfMin GEF:
canvax    see lfMaxf)fel, _.tols.100nM
 matri',GEF:
c os x     lfWit   f)i)iGEnnnGEF:
c os x     lfaGE1nel, __   x     lf)kIs  r_nGEF:
c os x   /pl(Run GEF:
canvax    see lfH-----------------el, _.tols.1
lu:
'Sx  
 _nglelesourc =e-s  r_ehat):
con:
'tPo  i() leGEF:
[,GEF:
c os x   wi)fWit    ose(    dewi)fWit      eiebubottit  obf _ngle ():ize"= abs5)z)gleArg)ubottit   = tok GE1nel, __             tag = 
abok GEnu):
tit  :.yok _ngle ():ize"= abs5)z)dei   ify',GEF:
c os = tit  ksnz)isiblid_egraphicse)i  nubottit   = t r_nge(4):
 x"= x_bl"= abs5)zf,nccasi ', ype = tyshare                     tag = 
abel0,n1.tptas.dixLabel} viewnu):ast wi)fotit   . C, u DISPLAY variabli."ge(4):
 x"= x_bl"= abssnz)isiblid0                  h,DnimDirN)
 ))de _= abs5)z)s  r_ngxLabel} viewinitef 2.0
sensort__
 s  r_ehat              t  _ exis]ny,nlerc/nu):
e)OSTNAME'x)- f)f)i,n   .yiolerc/pnu):
w, .wm_tit       t  _)
 x         nubde _= abs5)z)z   __type = typ=400, eight=400x         nubotcanvhidfWit   ,GEF:
c os = tit  ksnz)isiblid_egraph  dehidfWit   ===  )iGEF:
inCh    Ssnz)isiblid0          = abs5)z)z        nubotpid',  h:
 Wit   ===  ):
w,thKrawex         nubotu2m U_idle asksex         nubotdentro    stDi  lf)kIs  >s x     lfWit   f)i)nubottit   = tit  k         0 f)fe  lf1               t  _mov_ng  lf2",  eGEF'i,n  /2, 0              t  _,tTBcundf _ngng  lf2", 2     g  lf1")ubottit   = tix     lf)kIs  r_ x     lfWit   f)i)i/last = [0n )i  nubottit   = tit  k  lf)kIs  +GE1nel, __  resrawe[(x.y,nz)
 x.pos)fn1.0xn0.0-----el, _.tols.[s  r_ehat]]ubottit  eR   ---,sensorn0.0,esrnvax    se{   gleit  k  lf)kIs  <_ x     lfWit   f)i)/2 tag = 
abel0,n1.t2     g  lf1"u:
'Sx  ) .yi    nubottit   = tn1.t2     g  lf2"             t  _nvldir('L')   lf)kIs  -0,nda1, fill='white')- f)f)i)i# tit        see lfH---[sensor]nda1, fill='white')- f)f)i)i# tit        see lf)kIs nda1, fill='white')- f)f)i)i# tit     nub(px_blo ---)/   see lfMaxf  DGEFf _ngle  Dz = [3,n   .yiolerc/pl():
    2  rawe2      #:
    eight - :
   is]tomBordse0,tols.joo:0   #:
    eight - :
   is]tomBordse0,,ny,
  xcilit rt}  S[sensor])ubottit   = tix     lfH---[sensor] = nub(px_blo ---)/   see lfMaxf  DGEFf -0,          = abs5)z)   el,  TKraw(    , opatrix = {}def _nglele#ado so[:
x"= R() ===  gleGEFo  l', 'gold', 'iebubottit   = tit  krstEprawex'a= ei (0,1)}ubottit   = tit  kf 2.0
= Rny,
 2_graph:
x"= Rny,
==  gleGEFo  l', 'gold', 'i,          al[=nu):
tit  _kIs  r_
lu:
'Sx  
 _n:
tit  _ix1 = Matrix0.hist[i][boo  l',00n,tTBld', 'i, pos)   al[=nu):
time,('Su[Sensor   eGEF'Slor =,it  _kIs )]lerc/pfto[u:
'Sx  :
x"= xensor   al[=nu)pos GEnu):
tit  o  l', 'gold', 'i, F'Slor =,i         al[=nu):
tit  _ = Matrif 2d--.f 2d--(olerSlor = 'gray50'z)
   t  _pos GExensorposgray50'z)
   xensorposict_xensorposi+0, _
 o[u:
'gray5  f):  xcilit(  
     'sa= e)ubotp-p,n,n0.0,ny,
 2500mpoD self.f  f).  h:
 Wit   =)ubotpptas.diDone!"0, 1.0, -1.0, 1.0, -1.0, -5.0neuffh
  on2
u2m U v)z)
 t0
   vz)
 h
  on1
w, .[.',loop()-z)
 matrix1
tol00nst exis]/gpls]/4263727745030040755000076400003100000000000010745440007014002 5un  r  dblankfacultyz)
 matrix1
tol00nsTKtol00nspls]/63750040755000076400003100000000000010745440007014002 5un  r  dblankfacultyz)
 matrix1
tol00nsTKtol00nspls]/matrix.py6350320510100644000076400003100000000172407670766732015155 0un  r  dblankfaculty--------------,f.fbosiNo
 vestEvsStr(,tTB, places=3mpoD s"""If0,tTBl,s a/px_bl,estEvsp#sksN places; o 0.rw    j wi)fs0,tTBlaf.fbosi.lf.nxS 
sast)f= []    n, war, ,tTB- ye l---poD selfxize"= ab,tTBc(
  (vecito)xwar, v- ye px_bl y_blockxize"/ sast)="""ern(('%%.%df'% places _
 v               nubottit   = t sast)="""ern(s) evs  r_ngulme,('Su'[%s]' %e.fbosi.join( sast), ", ")ubot    nubottitme,('Sustr(,tTB)u):
x"= xtatusBarMap
# ---Fr0,n0.0,nyo  l', 'gold', 'i, F's --mpoD selfap
# ---Fr0,n)r=t1.0,elf.nnnnF's --m
z)
   t  _0 f)f)iuap
# ---
w,dt--------d=---
elief=ap
# ---SUNKEN,nanchor ap
# ---Wm
z)
   t  _0 f)f)
 x  0,ny,ap
# ---X1.0n *ecSlseb(  eighxizmbl,e*args)   al[=nt  _0 f)f)cundf (2.0, xizmbl %eargs)  al[=nt  _0 f)f)   el,  TKraw(    ,  *hid',yret]   ei)   al[=nt  _0 f)f)cundf (2.0, "")  al[=nt  _0 f)f)   el,  TKraw(    , 
####
#	C
x"= Dialog
#
#	Purpose
#	Bas4):
x"= xizemany dialog'box):
x"=t)=
####
):
x"= Dialog:

	o  l', 'gold', 'i, F's --mpo		  eGEF's -- = F's --o		  eGEtopf,nccasi ', ype = tys eGEF's --)o		  eGEtop)s  r_nmBord _:
x"=trix = {)o		  eGEtop)min0,ny(---1)o		  eGEmyWaitVa- = `  eGEtop`i+0'EndDialogVa-'

	o  lSh  ===  )iG		  eGESe,(pDialog()o		  eGECesi 'Dialog()o		  eGEtop)dei   ify',G		  eGEtop)focu   , 	o  lTerminel,Dialog(, 'i, z   V     nge(4):
 x"= x_bl"= abstop)sebvar   eGEFyWaitVa-, z   V     G		  eGEtop)z        nu		 	o  lDialogCretnup===  )iG		  eGEtop)depl:     		  eGEF's --)focu   , 	o  lSe,(pDialog(==  )i  		
canva	o  lCesi 'Dialog(==  )iG		  eGEtop)z        nu		  eGEtop)   el,  TKraw(    ,		w r_ x   top)z   __sc'sie w, .wm,		h r_ x   top)z   __sc'sievnted:) ,		reqw r_ x   top)z   __reqww, .wm,		reqh r_ x   top)z   __reqhnted:) ,		cesi 'xf)f`(w-reqw)/2`,		cesi 'yf)f`(h-reqh)/2c-e.
0`,		geomStr   g+"    esi 'xf+ g+"    esi 'yu		  eGEtop)geometry(geomStr) 
####
#	C
x"= ModalDialog
#
#	Purpose
#	Bas4):
x"= xizemany modal dialog'box):
x"=t)=
####
):
x"= ModalDialog(Dialog):

	o  l', 'gold', 'i, F's --mpo		Dialog)r=t1.0,elf.nnnnF's --m

	o  lSh  ===  )iG		-------.fbosiN		  eGESe,(pDialog()o		  eGECesi 'Dialog()o		  eGEtop)grab_seb(,G		  eGEtop)focu   ,		  eGEtop)dei   ify',G		  eGEtop)waitvar   eGEFyWaitVa-                  #ptas.diwaitvar =elenu):
top)getvar   eGEFyWaitVa- , war, (GEF:top)getvar   eGEFyWaitVa-                   h,s r_ x   top)getvar   eGEFyWaitVa-                  #ptas.dih,s r", h,s, war, h,s                  o)xwar, h,s  ye  owid_ebubottit   = t       h,,('Susx   top)getvar   eGEFyWaitVa-                      nubottit   = tn1.t itme,('Sustrosi.atoi (GEF:top)getvar   eGEFyWaitVa-   
####
#	C
x"= AlertDialog
#
#	Purpose
#	
#	AlertDialog's arfotil00nsn)magna---- ef _ x  opfup warnosi), ef _'Sx  #	qst),thKraetc.t plytme,('Sualseb)odendard----la._5, maxs bele a:	0 =>
   c)f)was ph,ssed	1 =>
Yt)fwas ph,ssed	2 =>
Nofwas ph,ssed	Sndard-Usage
#	
#	F r_AlertDialog(til00nnnF,ssage)
#	---la._= F.Sh  =)
####
):
x"= AlertDialog(ModalDialog):

	o  l', 'gold', 'i, til00nnnFsg)iG		  eGEtil00nnglele00n 		  eGEFsgStrosi = Fsgo		Dialog)r=t1.0,elf.nnnnele00n , 	o  lSe,(pDialog(==  )iG		-------.fbosiN		u""erFr0,nf,nccasi ',Fr0,n (GEF:top)N		u""erFr0,n['
elief'] = 'ra   d'N		u""erFr0,n['bd']	 GE1n		u""erFr0,nth,  eig  ():
  'yes'iinp("t,		FsgL------strosi.splitfieldu):
e)OFsgStrosi, "\n"t,		-p,n,n0.0,ny,
 w,dtFsgL---))iG			FsgT Pap
# ---
w,dt-u""erFr0,n,G			FsgT["2.0,"]	  = FsgLu:
'SxG			FsgTth,  eig  ():
  'yes'iinp("t, 	o  l nTBox
f.nnnn2.0,,itols.joo3 = 1efa r_"")iG		fr0,nf,nccasi ',Fr0,n (GEF::
'0
Fr0,n)G		fr0,nth,  eig  ():
  'yes'iinp("t,erobotchhhhhhhhh(GEF:t.0,box[t.0,] = 2.0,box                 h,Dnim 2.0,box ####
#	C
x"= ErrorDialog
#
#	Purpose
#	
#	Tx  opfup an errornF,ssage
####
):
x"= ErrorDialog(AlertDialog):

	o  lSe,(pDialog(==  )iG		AlertDialog.Se,(pDialog(==  )G		  eGEbit uc['bit uc'] = 'error'N		  eGE nBut
 h
"OKelenu):
OkPh,ssed                  #  eGE nPickLu:
Box
"S U_idle elelambda: "Click!" , 
####
#	C
x"= WarnosiDialog
#
#	Purpose
#	
#	Tx  opfup a warnosinF,ssage=
####
):
x"= WarnosiDialog(AlertDialog):

	o  lSe,(pDialog(==  )iG		AlertDialog.Se,(pDialog(==  )G		  eGEbit uc['bit uc'] = 'warnosi'N		  eGE nBut
 h
"Yt)elenu):
OkPh,ssed  		  eGE nBut
 h
"Noelenu):
   c)fPh,ssed  
####
#	C
x"= Qst),thKDialog
#
#	Purpose
#	
#	Tx  opfup a .cilit qst),thK
####
):
x"= Qst),thKDialog(AlertDialog):

	o  lSe,(pDialog(==  )iG		AlertDialog.Se,(pDialog(==  )G		  eGEbit uc['bit uc'] = 'qst),thK'N		  eGE nBut
 h
"Yt)elenu):
OkPh,ssed  		  eGE nBut
 h
"Noelenu):
NoPh,ssed  		  eGE nBut
 h
"   c)felenu):
   c)fPh,ssed  
):
x"= AskDialog(AlertDialog):
 'co  l', 'gold', 'ivory0,n11.0,n0.ql---ebubottitAlertDialog.', 'gold', 'ivory0,n11.0,n)  al[=nt  _ss[bocon:
'tPo  ssf t  _ql---conql---  al[=nt  _s.0,box)iu{}ubottit
 'co  lSe,(pDialog(==  )iGbottitAlertDialog.Se,(pDialog(==  )G al[=nt  _bit uc['bit uc'] = 'qst),thK'N al[=nt  _ nBut
 h
"Okelenu):
OkPh,ssed          eGE nBut
 h
"   c)felenu):
   c)fPh,ssed        -p,n(2.0,,i1efa)n0.0-----ql---poD self     eGE nTBox
2.0,,itols.=3 = 1efa=1efa)G):
x"= WatcherMap
# ---lenu):
y"= yf o  l', 'gold', 'ivory0,mpoD selfap
# ---0.0, xE5)r=t1.0,elf.nnnnry0,m         eGEz   __type = typ=s  r_ngxLabel} Exph,ssla._Watcher")  al[=nt  _i lfhlexi         eGEz   __type = typ=400, eight=400x         nubotcanvminim= Can yf o  lminim= Cf _ngle,sZ =t1
             nu yf o  lunwatch        xple,sZ =t1i GEnu):
tit-p,n(oldExp, 2.0,box)n0.0----- 
canvax    se{:.yoldExp ye  xpnubottit   = tit  k  lf. op(              2.0,boxt  el,   ose(          h,DnimDirN)
 ))di +GE1nel, __ra    AttrobuteError, "exph,ssla._ast ftEvs: '%s'__
 expu yf o  lwatch        xple,sZ =t1it  k ei   ify',GEF:
c -p,n(oldExp, 2.0,box)n0.0----- 
canvax    se{:.yoldExp ye  xpnubottit   = th,Dnim otun'tlwatch",Eyrp0,nfexph,ssla._mor4)ma.u  c)GEF:
c -r0,nf,n  eGE nTBox
exp, tols.=3 = 1efa="")  al[=nt  _i lf="""ern( (exp, fr0,n)nu yf o  lu h:
    eighlocaleGEFls]ny,nel, __gle,ocaleGEll = (4tNo ifioiylocaleGEFglobale',GEF:
c -p,nexp, fr0,nn0.0----- 
canvax    se{ r_nge(4):
 x"= x = MatriftEvsStr(e
   exp, locale                   tag = 
abel0, = Matri""          fr0,nt2.0,boxt  0 f)ferawern            fr0,nt2.0,boxtin0ert( =       u yf o  l nTBox
f.nnnn2.0,,itols.joo3 = 1efa r_"")iGEF:
c -r0,nf,nccasi ',Fr0,n (GEF)GEF:
c -r0,nth,  eig  ():
  'no'iinp("t,erobotl f)f) b  sgr1>elelambda  ny,n:tit  k nwatch 2.0,))GEF:
c -r0,nt .0,box)iu2.0,box       h,Dnim -r0,n 
####
#	C
x"= M,ssageDialog
#
#	Purpose
#	
#	Tx  opfup a F,ssage=
####
):
x"= M,ssageDialog(AlertDialog):

	o  lSe,(pDialog(==  )iG		AlertDialog.Se,(pDialog(==  )G		  eGEbit uc['bit uc'] = 'warnosi'N		  eGE nBut
 h
"Dismisselenu):
   c)fPh,ssed  
####
#	C
x"= FileDialog
#
#	Purpose
#	
#	FileDialog's arfotil00nsn)magna---- ef _ x nu)ect,,nye ix =s by
#	clickosina._,nye ix =s= 1iax11st =ix =s= ,ny --s= etc.	Sndard-Usage
#	
#	F r_FileDialog(til00nnnm U__1.0,n0.m U__,ny --)
#	gleF.Sh  =)   f1:
#		F.DialogCretnup=)
#	h,DnimD#		,nyerix =_= F.GetFileN0,n )
#		F.DialogCretnup=)
####
):
x"= FileDialog(ModalDialog):

	#	conel,u11st

	o  l', 'gold', 'i, til00nnn1.0,n0.0,n --="*elez)
 _1ia = '')iG		from os_n------00ncwdG		from strosi -------.fbopu 		  eGEtil00nnglele00n 		  eGE0,n -----strop(,ny --)
		  eGEorte_1ia = 00ncwd(t,erobotchhhhhhhhh(GEF:z)
 _1ia = z)
 _1ia
		  eGEcwd = 00ncwd(t,erobotchhhhhhhhh(GEF:/pl(Cwi]to    dew 'graph'0,,,,,,,,,it  k efaFileix =_=""ge(4):
 x"= x_bl"#	axT.mogical curry,n workosin1iax11st o		Dialog)r=t1.0,elf.nnnnele00n , 	#	  ,(piftEt---ncalled   fip-----Dialog
u):
tit  o  lH U_Ph,ssed(==  )iG
 x"= x_bl"from os_n------00nenvG
 x"= x_bl"gleit  kgoH U_But
 h['2.0,'] == 'H U_nge(4):
 y"= y_bl#    stDi wi]!= 00n *elu:
 kIsu):
s\e(4):
 y"= y_bl#,,,,,,,it  k wi]!= (GEF:z)
 _1iage(4):
 y"= y_bl(GEF:/pl(Cwi]to    dew 'graph'0,,,,,,,  eGEcwd = 00n *elu:
 kIs'graph'0,,,,,,,  eGEgoH U_But
 h['2.0,'] = 'xLabel}''graph'0,,,,,,,  eGEU h:
 Lu:
BoxeW',GEF:
c os =       stDigoH U_But
 h['2.0,'] == 'Lpl(nge(4):
 y"= y_bltmp]to    dew -G                eGEcwd = (GEF:/pl(Cwie(4):
 y"= y_bl#   tmp]!= 00n *elu:
 kIsu):
s\e(4):
 y"= y_bl#,,,,,,,tmp]!= (GEF:z)
 _1iage(4):
 y"= y_bl(GEF:/pl(Cwi]totmp'graph'0,,,,,,,  eGEgoH U_But
 h['2.0,'] = 'H U_n'graph'0,,,,,,,  eGEU h:
 Lu:
BoxeW',GEF:
c os =       stDigoH U_But
 h['2.0,'] == 'xLabel}'ge(4):
 y"= y_bl#    stDi/pl(Cwi]!= 00n *elu:
 kIsu):
s\e(4):
 y"= y_bl#,,,,,,,it  k/pl(Cwi]!= (GEF:z)
 _1iage(4):
 y"= y_bl#,,,  eGEgoH U_But
 h['2.0,'] = 'Lpl(ne(4):
 y"= y_bl#    nubottit   = tn1  eGEgoH U_But
 h['2.0,'] = 'H U_n'graph'0,,,,,,,  eGE/pl(Cwi]to    dew 'graph'0,,,,,,,  eGEcwd = (GEF:z)
 _1ia'graph'0,,,,,,,  eGEU h:
 Lu:
BoxeW',G
	o  lSe,(pDialog(==  )iGo		# 1iax11st =l f)fu 		  eGE1iaFr0,nf,nccasi ',Fr0,n (GEF:top)N		  eGE1iaFr0,n['
elief'] = 'ra   d'N		  eGE1iaFr0,n['bd']	 GE'2-N		  eGE1iaFr0,nth,  eig  ():
  'no'iinp("'lenu):
F,n --R,DnimKey)N		  eGE0,n --Entry["erc/p"]  = "40"N		  eGE0,n --Entry["
elief"] r_"rle00"N		  eGE0,n --Entry.h,  eig  ():
  'yes'iinp("t,		  eGE0,n --Entry.in0ert( =   eGE0,n --)Go		# axT.1iax11st =):
s,nye l---boxeW
 		  eGElu:
BoxFr0,nf,nccasi ',Fr0,n (GEF:top)N		  eGE:u:
BoxFr0,n['
elief'] = 'ra   d'N		  eGE:u:
BoxFr0,n['bd']	 GE'2-N		  eGE:u:
BoxFr0,nth,  eig  ():
  'no'iinp("t,		  eGE nDiaLu:
Box
t,		  eGE nFileLu:
Box
t,		  eGEU h:
 Lu:
BoxeW',G
		# editabli.0,neix =
 		  eGE0,neN0,nFr0,nf,nccasi ',Fr0,n (GEF:top)N		  eGE0,neN0,nFr0,nth,  eig  ():
  'no'iinp("t,		  eGE0,neN0,nEntry. b  s''lenu):
F,neN0,nR,DnimKey)N  graph'0,,,,,,,gleit  k efaFileix =nubottit   = tn1.t it  eGE0,neN0,nEntry.in0ert( =   eGE efaFileix =) eeeeee ee(t expat# helpu2.0,nubottit   = tn1.thelpFr0,nf,nccasi ',Fr0,n (GEF:top)Ntit   = tn1.t it crollBa- = ap
# ---Scrollbar(helpFr0,n, {'orty,neigvertical })G  graph'0,,,,,,, crollBa-th,  eig  ():
  'no'iinp("t,		  eGEokBut
 hf,nccasi ',But
 h
f.nnEbut
 hFr0,nt,		  eGEokBut
 h["2.0,"]	  = "OK",		  eGEokBut
 h["  mmand"]   r_  eGEOkPh,ssed,		  eGEokBut
 h["erc/p"] r_8N		  eGEokBut
 hth,  eig  ():
  'yes'iinpadyCS'2---gp("t,		  eGE0,n --But
 hf,nccasi ',But
 h
f.nnEbut
 hFr0,nt,		  eGE0,n --But
 h["2.0,"]	  = "F,n --",		  eGE0,n --But
 h["  mmand"]   r_  eGEF,n --Ph,ssed,		  eGE0,n --But
 h["erc/p"] r_8N		  eGE0,n --But
 hth,  eig  ():
  'yes'iinpadyCS'2---gp("t,		but
 hf,nccasi ',But
 h
f.nnEbut
 hFr0,nt,		but
 h["2.0,"] = "   c)fe,		but
 h["  mmand"] ,n  eGE   c)fPh,ssed,		but
 h["erc/p"] r_8N		but
 hth,  eig  ():
  'yes'iinpadyCS'2---gp("t, 		but
 hf,nccasi ',But
 h
f.nnEbut
 hFr0,nt,		but
 h["2.0,"] = "Edite,		but
 h["  mmand"] ,n  eGEEditPh,ssed,		but
 h["erc/p"] r_8N		but
 hth,  eig  ():
  'yes'iinpadyCS'2---gp("t, 		but
 hf,nccasi ',But
 h
f.nnEbut
 hFr0,nt,		but
 h["2.0,"] = "My Copye,		but
 h["  mmand"] ,n  eGE opyPh,ssed,		but
 h["erc/p"] r_8N		but
 hth,  eig  ():
  'yes'iinpadyCS'2---gp("t, 	#	n axT.1iax11st =l---cbox  	o  l nDiaLu:
Box
==  )iG		fr0,nf,nccasi ',Fr0,n (GEF::u:
BoxFr0,n)G		fr0,nth,  eig  ():
  'yes'iinp("t,		l f)f)iuap
# ---
w,dt-f,nesFr0,n)G		0 f)f['2.0,'] = 'Diax11sties:-N		0 f)f)
 x  igp("'lenu):
DoDoubliClickDia)G		 crollBa-['  mmand'] = (GEF:1iaLbtyviewG
	#	n axT.f,nes=l---cbox  	o  l nFileLu:
Box
==  )iG		fr0,nf,nccasi ',Fr0,n (GEF::u:
BoxFr0,n)G		fr0,n['
elief'] = 'ra   d'N		fr0,n['bd']	 GE'2-N		0r0,nth,  eig  ():
  'yes'iinp("t,		l f)f)iuap
# ---
w,dt-f,nesFr0,n)G		0 f)f['2.0,'] = 'Files:-N		0 f)f)
 x  igp("'lenu):
DoSu)ection                  # Thisnu)uses=m U_ problimsna._Debian_
lmpu --sN		  eGEf,neLbt b  s''lenu):
DoDoubliClickFile)G		 crollBa-['  mmand'] = (GEF:f,neLbtyviewG
	#	u h:
 maxT.m.--boxeW=):
s1iax11st =l f)f af ---afx *  s)ode1iax11st o 	o  lU h:
 Lu:
BoxeW'==  )iG		n------osG		from   mmands_n------00noutpu G		from strosi -------.plitfieldu, 		cwi]to    dew '		  eGEf,neLbt  0 f)fera  eGEf,neLbt0,ny())G		0,n -----s eGE0,n --Entry.geb(,G		# '*'itoll l---cax1urively,itetun'tlwantn)mag.G		nf 0,n ----= '*'iG			0,n -----'n'graph'0,,,,,,,e{:.yos.n0,nn0.0['n:'iindos'iinos2'] nubottit   = tn1.t itcmi]to"1ia /b \""   o)
 th.join(ew 0.0,n --)   "\""ge(4):
 x"= x_bl"   pipnf,no)
open(emi]+ ' 2>&1',-nrIs'graph'0,,,,,,,.t itcmiOutpu  = zipn.d(t,erobotchhhhhhhhh   pipn.closrg)ubottit   = ttttt     os.n0,nn0.0[' _n
x']nubottit   = ttttt itcmi]to"ls "   o)
 th.join(ew 0.0,n --)   \e(4):
 y"= y_bllllllllllll" | grep -v "ge(4):
 x"= x_bl"   cmiOutpu  = 00noutpu (emi                      nubottit   = tn1.t itma    AttrobuteError, "     OS (%s)l,s ast sup----ed__
 os.n0,nN		0,nes---splitfieldu)cmiOutpu , "\n"t,tit   = tn1.t it0,nes.s---(t,		-p,n,n0.0,ny,
 w,dt0,nes))iG			   os.
 th.is0,ne(o)
 th.join(ew 0.0,nes[i]))iG				  eGEf,neLbtin0ert(wern , os.
 th.baseix =(0,nes[i]))N		0,nes---os.l---1ia(ew )N  graph'0,,,,,,,gle wi]!= '/'ge(4):
 y"= y_bl.t it0,nes."""ern('..')N		0,nes.s---(t,		(GEF:1iaLbt  0 f)fera  eGE1iaLbt0,ny())G		0p,n,n0.0,ny,
 w,dt0,nes))iG(4):
 y"= y_bl.t it   os.
 th.is1ia(o)
 th.join(ew 0.0,nes[i]))iG y"= y_bllllllllllll   def,nes[i]]!= 'CVS'=):
s(0,nes[i]----!= '.' p,nf,nes[i]]-= '..')iG y"= y_bllllllllllll    a  eGE1iaLbtin0ert(wern , 0,nes[i]),		(GEF:1iaL f)f['2.0,'] = "Diax11st :"der)f)i
ew _ptas.( , 	#	  )ection  * dl--sN 	o  lDoSu)ection        ny,n)iG		from  _n
x
 th -------joinN  graph'0,,,,,,,g------.fbosiN		lb)iu ny,n.ele00n 		field = (GEF:f,neN0,nEntry 		fieldt  0 f)feraap
# ---AtErn())N		0,eldtin0ert( = join()f)i
ew _ptas.( , lb.geb(lb.neah,st( ny,n.y))                   lb.  )ect_yret] 0, "end"                  lb.  )ect_anchor(lb.neah,st( ny,n.y))                 # -------------------------------------                # Get=m U_ helpufrom axT.f,ne-                # thisnuould b maxT.__docs__ strosi from-                # the modu,n0.butn)magnwould requiax up#sksload  eGEF'Slor         # ):
s)magnseimsnlike ast a good  dea. Mayb mbet----0,n0            # to 00n 1,  sfrom au2.0,.f,ne, p,ntopfode.f,ne-                 def,eldtgeb(,[-3:jectBr" p,nf,eldtgeb(,[-6:jectBrworldbeeeeeee ee(t expattttfp]toopen(f,eldtgeb(,, "r"                    D,sZT=]tofp.d,sZT=(t,erobotchhhhhhhhh   strosi,sZT=]to.fbosi.join(,sZT=, '')eeeeee ee(t expattttfp.closrg)ubottit   = ttttt    nubottit   = tn1.t itstrosi,sZT=]to"Click the 'OK' but
 hfsksload."ge(4):
 x"= x_bl"= abslelpTtcundf (gleAr=gnermal')eeeeee ee(t expat= abslelpTt  0 f)f1.erawern            t expat= abslelpTtin0ert(wern , strosi,sZT=]           t expat= abslelpTtcundf (gleAr=gdisablid')N 	o  lDoDoubliClickDia        ny,n)iG		from  _n
x
 th -------joinN		lb)iu ny,n.ele00n 		)f)i
ew )iujoin()f)i
ew , lb.geb(lb.neah,st( ny,n.y)) ,		  eGEU h:
 Lu:
BoxeW',G
	o  lDoDoubliClickFile        ny,n)iG		  eGEOkPh,ssed(,G 	o  lOkPh,ssed(==  )iG		  eGETerminel,Dialog(1,G 	o  lF,neN0,nR,DnimKey        ny,n)iG		from  _n
x
 th -------isabs   xp):
user,-joinN		from strosi -------.fbopu		#	max,ts a/
elative 
 th guin(includ maxT.ew )0.0axT.n0,nN		ix =_= strop(  eGE0,neN0,nEntry.geb(,)G		nf ast isabs( xp):
user(ix =))iG			  eGE0,neN0,nEntry.  0 f)ferawern   			  eGE0,neN0,nEntry.in0ert( = join()f)i
ew _ptas.( , ix =))N		  eGEokBut
 htflash(t,		(GEF:OkPh,ssed(,G	 	o  lF,n --R,DnimKey        ny,n)iG		from strosi -------.fbopu		0,n -----strop(  eGE0,n --Entry.geb(,t,		  eGE0,n --Entry.  0 f)ferawern   		  eGE0,n --Entry.in0ert( = 0,n --)G		  eGE0,n --But
 htflash(t,		(GEF:U h:
 Lu:
BoxeW',G
	o  lF,n --Ph,ssed(==  )iG		  eGEU h:
 Lu:
BoxeW',G
	o  l   c)fPh,ssed(==  )iG		  eGETerminel,Dialog(0,G  t expato  l opyPh,ssed(==  )iG
 x"= x_bl"n------osG(t expattttfileix =_=t  eGE0,neN0,nEntry.geb(,G(t expattttmyfileix =_=to)00n *el":
 k")   "/my"derfileix =.split("/",[-1]ubottit   = :.yos.n0,nn0.0['n:'iindos'iinos2'] nubottit   = tn1os.------("copynite%t__
(fileix =,tmyfileix =))bottit   = tn1GEF:
c os =     nubottit   = tn1os.------("cp -inite%t__
(fileix =,tmyfileix =))ubottit   =   eGE0,neN0,nEntry.  0 f)ferawern   bottit   =   eGE0,neN0,nEntry.in0ert( = myfileix =) bottit   =   eGEEditPh,ssed(myfileix =--1)o  t expato  lEditPh,ssed(      fileix =_=t = (, nu)ectI  r_n)iG
 x"= x_bl"n------osG(t expatttt def,neix =_=ll = (4tNo ifioiyr=bttfileix =_=t  eGE0,neN0,nEntry.geb(,G(t expatttt:.yos.00n *el"EDITOR"--------F:
c os =  ditp,ntNos.00n *el"EDITOR"-GEF:
c os =     nubottit   = tn1 ditp,ntN"emacs"ge(4):
 x"= os.------("ite%t &do%st ditp,  fileix =))ubottit   =   eGETerminel,Dialog(0, #  eectI ,G
	o  lGetFileN0,n ==  )iG		h,,('Susx   0,neN0,nEntry.geb(,G		 	#	h,Dnim axT.mogical curry,n workosin1iax11st n0.0apptas.abli.0erm 	#	ie. z   assuall axT.X/.. 
 irs.t pl easi,st wayaskseo thisnip#sk
	#	h1ia sksew )):
s00n axT.i th guire.G
	o  lew _ptas.(==  )iG		from os_n------h1ia,-00ncwdG		h1ia()f)i
ew ,G		p = 00ncwd(t,		h1ia()f)i
orte_1ia)G		h,,('Sup 
####
#	C
x"= LoadFileDialog
#
#	Purpose
#	
#	Specialisation of FileDialog -p,nloadosi f,nes.
####
):
x"= LoadFileDialog(FileDialog):o  t expato  lr=t1.0,elf.nnnnF's --nn1.0,n0.0,n --lez)
 _1ia = '')iGbottit   = FileDialog)r=t1.0,elf.nnnnF's --nn1.0,n0.0,n --lez)
 _1ia)ubottit   =   eGEtop)s  r_n1.0,n)  	o  lOkPh,ssed(==  )iG		0,neN0,n_=t  eGEGetFileN0,n )
		nf 0,ne_exu:
s(0,neN0,n  ye 0iG			 tr   'File 'derfileN0,n_+ ' ast ftEvs.-N			errorDli = ErrorDialog(  eGEtop, str)N			errorDli.Sh  =)
			errorDli.DialogCretnup=)
			h,,('S
		FileDialog)OkPh,ssed(==  ) 
####
#	C
x"= SaveFileDialog
#
#	Purpose
#	
#	Specialisation of FileDialog -p,nsavosi f,nes.
####
):
x"= SaveFileDialog(FileDialog):o t expato  lr=t1.0,elf.nnnnF's --nn1.0,n0.0,n --le efaFileix =="")iGEF:
c ottit   = FileDialog)r=t1.0,elf.nnnnF's --nn1.0,n0.0,n --           t expat= abs efaFileix =_=e efaFileix =G		  eGEtop)s  r_n1.0,n)  	o  lOkPh,ssed(==  )iG		0,neN0,n_=t  eGEGetFileN0,n )
		nf 0,ne_exu:
s(0,neN0,n  ye 1iG			 tr   'File 'derfileN0,n_+ ' exu:
s.\nDo     z sh sksoverwrif)  e?-N			warnosiDli = WarnosiDialog(  eGEtop, str)N			if warnosiDli.Sh  =) ye 0iG				warnosiDli.DialogCretnup=)
				h,,('S
			warnosiDli.DialogCretnup=)
		FileDialog)OkPh,ssed(==  ) 
:
x"= ApplicationMap
# ---Fr0,n0.0,nyto  lr=t1.0,elf.nnnnF's --=ls]ny,nel, __lfap
# ---Fr0,n)r=t1.0,elf.nnnnF's --m
o  t expatf.nnEbut
 hf,nccasi ',But
 h
f.nn)  t expatf.nnEbut
 h['2.0,'] = 'Load File...'  t expatf.nnEbut
 h['  mmand'] = (GEF:Ph,ss  t expatf.nnEbut
 hth,  ei"p("<": "top"})o  t expatf.nnE
 x    0,nyto  lPh,ss(==  )iG
 x"= x_fileDli = filedli.LoadFileDialog(app, "Load File", "*ele'')eeeeee eenf 0,neDli.Sh  =)   f1:
     t expat0,neDli.DialogCretnup=)
     t expath,DnimDirN)
 ))fix =_=e0,neDli.GetFileN0,n )
 t expatf.nnEbut
 h['2.0,'] = 'File: 'derfix =G t expat0,neDli.DialogCretnup=)

#	R,Dnim wheguir a/pile exu:
s p,nast.
#	TxT.f,ne ""nip#deemed sksast exu:

o
 ve0,ne_exu:
s(0,nerix =)iG	from  _n
x
 th -------exu:
s
	-------.fbosiN	gle,,dt0,nerix =) ye 0iG		h,,('Su0
	    nu		h,,('Suexu:
s(0,nerix =)

#	dmaxT.m.ZT=]from auf,ne ):
sstropmaxTm of axTia srailosi newm.ZT=
o
 ved,sZT=(fd)iG	from strosi -------.fbopu	h,,('Sumap(lambda s= ,=.fbop: f(s , fd.d,sZT=(t)

#	Variouslseb)opera,thKraoSusxque c)eargumy,ns.
#	0.0joinsmaxT.
sast)f0.0'a' ti)fopax1ede c)eovermaxosef0.0'b'
o
 vesxq_join(a, b)iG	rT=]toa[:]
	n1.0xn0.0b:
		nf x ast i.0,es:
			h,s."""ern(x)u	h,,('SureW
 
 vesxq_meeb(a, b)iG	rT=]to[]
	n1.0xn0.0a:
		nf x 0.0b:
			h,s."""ern(x)u	h,,('SureW
 
 vesxq_diff(a, b)iG	rT=]to[]
	n1.0xn0.0a:
		nf x ast i.0b:
			h,s."""ern(x)u	h,,('SureW
 
#	Variouslseb)opera,thKraoSu uc argumy,ns.
#	TxT.
sast)f0.0'a' ti)fopax1ede c)eovermaxosef0.0'b'n0.0all ca=t)=
#
 
 ve uc_join(a, b)iG	rT=]to{}
	n1.0xn0.0a.key=(tnu		h,s[x]]toa[x]
	n1.0xn0.0b.key=(tnu		nf ast h,s.has_key(x):
			h,s[x]]tob[x]
	h,,('SureW
 
 ve uc_meeb(a, b)iG	rT=]to{}
	n1.0xn0.0a.key=(tnu		nf b.has_key(x):
			h,s[x]]toa[x]
	h,,('SureW
 
 ve uc_diff(a, b)iG	rT=]to{}
	n1.0xn0.0a.key=(tnu		nf ast b.has_key(x):
			h,s[x]]toa[x]
	h,,('SureW
 
#	Jo0.0ap uc ode1efas.
sast)fz   0ap uc odeseb) sast)=t pl 1efas.
#	 uc ip#si)fhfsksb maotal, ):
she c)eany key= ast i.0tpl 1efas0.butn
#	0.0,Eyrpettosi), m b merror)=
#
 
 ve uc_join_aotal(pettosi), 1efas)iG	rT=]to uc_join(pettosi), 1efas)
	n1.0xn0.0pettosi).key=(tnu		nf ast 1efas.has_key(x):
			ha    "merge_1efas"
	h,,('SureW
 
#	Re,('Sualstrosi bele aaxT.eoncateixtion of ausxque c)eof l, ini=	NOTE:itet"""lyaaxT.ftEt---nax1ursively_ x nuque c)s odeseque c)s
o
 vesxq_to_str(s)iG	o)xwar, s  ye  owid(1,)) p,ntar, s  ye  owid[])iG		h,,('Sureduce(lambda sum, ): sumder)fq_to_str(a , ), ""t,	    nu		h,,('Sustr(s)
 
#	a dummy function n1.0any 5, max of argumy,ns
o
 vedummy(*args)  	
canva
#	axT.true ):
sfa    functions n1.0any 5, max of args
o
 vetrue(*args)  	h,,('Su1
o
 ve0a   (*args)  	h,,('Su0

#	Dnim wheguir a/char ip#ptas.abli.p,nast
o
 veis_ptas.abli(c)  	ontNord(c) 	h,,('SucectBr\n" p,n(o >= 32 ):
so 
#  opyrted: 1998 Gene Cash All rted:suh,served. 
# Redistrobution ):
susef0.0s   ce ):
sbinary.0erms, z    p,nz   ass
# modification, arfopermittCd provide
s)magnaxT.fo----osi eonditions arf
# met4t
#    1. Redistrobutions odes   ce cod mm reta0.0,Eyrabove-opyrted:
#,,,,,,,notici,uthisnl---codeeonditions andnaxT.fo----osi dis:
ximer.
#,,,,2. Redistrobutions 0.0binary.0ermmm reproduce0,Eyrabove-opyrted:
#,,,,,,,notici,uthisnl---codeeonditions andnaxT.fo----osi dis:
ximer i.0tpl
#,,,,,,,documy,nation ):
/p,no 0.rnF'i 'ialeGprovide
sz    tpl
#,,,,,,,distrobution. THIS SOFTWARE IS PROVIDED BY GENE CASH ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#---------dndnfrom ccasi ' -------*

#------------------------------------------------------------------------------o
 ve----_ca--  fi_      ionM)iG
 x"lf.----       ionaoSusys.stderrE"""ge(4)-------trace  fige(4)-------sys
 t enxS  sys.stderrEwrif)("E     ionai.0Tree.eontrol ca--  fi\n"t,tit trace  fi.ptas._       t  
#------------------------------------------------------------------------------o:
x"= xt,u11iG
 x"lf.Helpax o, ini n1.0add_nod () methodlf.nxS  o  lr=t1.0,elf.nn)iG
 x"= x_
canva------------------------------------------------------------------------------o:
x"= Nod iG
 x"lf.Tree.helpax :
x"= )mag's 0.ntiatCd -p,neach .nemy,n i.0tpl tree  IeGEF'Shaslseveralsuseful a-trobutesiG
 x"pary,n_nod "= x_-)--medi:
 mpary,n nod ge(4)-diolerc/pl():
 -)-dix"=ignCd a--ion
):
  xp):
ed_i    x_-)--agT.1isplaye
szuin(fo-der ip# xp):
edaskseisplayngle  Dz = [3,n   .yiolchildry,ngle co--apsed_i    x-)--agT.1isplaye
szuin(nod ",s ast a(fo-der p,nfo-der ipngle  Dz = [3,n   .yiolco--apsed.G
 x"pary,n_ele00n  x-)refere c)eto tree.ele00n )magneontainsmnod .
):
  xp):
abli_flagx-)-s.true zuin(nod ",s a(fo-der )magnmay b mexp):
edao--0,n0             .yiolco--apsed.G
 x" xp):
ed_flagx x-)true to indicate(nod ",s curry,nly. xp):
ed.G
 x"h_,sZTrc/pl():
 -)canvas.m.ZTfskslef-codenod ",mage=
):
 v_,sZTrc/pl():
 -)canvas.m.ZTfbe--- nod ",mage )magneonnini=lchildry,=
):
 indicerc/pl():
 -) xp):
/co--apse)canvas.,mage=
):
 l f)f)rc/pl():
 -)canvas.2.0,.l f)fu):
 symbolrc/pl():
 -)curry,n canvas.,mageu yf  Pleas4)aste )magnmethods ph,fixedaPVT_* arfoast meantn)ksb mused by
yiolclty,nGprogramsE"""ge(4)nxS  o  lr=t1.0,elf.nnnnpary,n_nod ,)-d, co--apsed_i   , x, y,ngle  Dz = [3,n   pary,n_ele00n= = (,  xp):
ed_i   = = (, l f)f= = (,ngle  Dz = [3,n    xp):
abli_flag=n)iG
 x"= x_""" n nod "andnt1.0ial= C it  ThisnalekseisplaysmaxT.nod "agnaxTG
 x"= x_giveSu _n
 ionaoSuaxT.eanvas, ):
sbinds mouseclicksE"""ge(4)))))#)--medi:
 mpary,n nod ge(4)):
 s.nnE
 ry,n_nod =
 ry,n_nod ge(4)))))#)-si 'nalsix =_used )ksmanipul:
 maxosi)ge(4)):
 s.nnEid=idge(4)))))#)bit ucsn)ksb m1isplaye
ge(4)):
 s.nnE xp):
ed_i   = xp):
ed_i   
 t expatf.nnEcu--apsed_i   =cu--apsed_i   ge(4)))))#)tree.ele00n wTfbe--e aaoeeeeee eenf pary,n_ele00n4tNo ifioiyr=bf.nnEele00n=pary,n_ele00ntNo ifioi    nubottit   = tf.nnEele00n=pary,n_nod .ele00ntNo ifioi# -p,nspee
ge(4)):
 sw=f.nnEele00ntNo ifioi#     l---codeehild nod )ge(4)):
 s.nnEehild_nod s=[]tNo ifioi# -lagx)magnnod "u):(b mexp):
edge(4)):
 s.nnE xp):
abli_flag= xp):
abli_flagge(4)):
 s.nnE xp):
ed_flag=ntNo ifioi# add 'Sx  eeeee eenf pary,n_nod "andnsw.'Sx _flagnubottit   = tf.nnEh_,sZT=sw.n_,sZT(x, y, x-sw.dist_x, y)tNo ifioi    nubottit   = tf.nnEh_,sZT= = (
 t expatf.nnEv_,sZT= = (
 t expat#     t"""ropr:
 m,mageu t expatf.nnEsymbol=sw.n_,mage(x, y, ,mage=f.nnEcu--apsed_i   )tNo ifioi# add  xp):
/co--apse)indicato--0,n0    s.nnEindic= = (
 t expatnf  xp):
abli_flagxandnsw.'Sx _flagxandnsw.plus_i    andnsw.minus_i   nubottit   = tf.nnEindic=sw.n_,mage(x-sw.dist_x, y, ,mage=fw.plus_i   )tNo ifioi# add l f)fu):
  = tf.nnEl f)f=sw.n_2.0,(x+sw.2.0,_off  ,_ y, 2.0,=l f)f, ):chor='w')tNo ifioi# sosi,e-click to  xp):
/co--apseeeeeee eenf f.nnEindicnubottit   = tfw.2ag_ b  sf.nnEindic, '<1>'lenu):
PVT_click)tNo ifioi    nubottit   = tfw.2ag_ b  sf.nnEsymbol, '<1>'lenu):
PVT_click)tNo ifioi# -p,n   g'n'drop tar00n 1etection
it   = tfw.2ag_ b  sf.nnEsymbol, ''lenu):
PVT_en --          fw.2ag_ b  sf.nnEl f)f, ''lenu):
PVT_en --  
fioi# -p,ntt),te a(gottap uke surT.nod ss00n "roperly.GC'ed      #o  lr=del,elf.nn)iG
 x"#,,,,ptas.usx   0ull_id( , '  0 f)d' 
fioi# ----- PUBLIC METHODS -----nxS  o  lseb_cu--apsed_i   lf.nnnn,   )iG
 x"= x_"""Segnnod 's co--apsed ,mage"""ge(4):
 xf.nnEcu--apsed_i   =i   ge(4)))))nf ast s.nnE xp):
ed_flagnubottit   = tf.nnEele00n.,tTBcundf (g.nnEsymbol, ,mage=i   )tnxS  o  lseb_ xp):
ed_i   lf.nnnn,   )iG
 x"= x_"""Segnnod 's exp):
eda,mage"""ge(4):
 xf.nnE xp):
ed_i   =i   ge(4)))))nf s.nnE xp):
ed_flagnubottit   = tf.nnEele00n.,tTBcundf (g.nnEsymbol, ,mage=i   )tnxS  o  lpary,nlf.nn)iG
 x"= x_"""Re,('Sunod 's pary,n nod """ge(4):
 xh,,('Susx   
 ry,n_nod gnxS  o  lprev_siblf.nn)iG
 x"= x_"""Re,('Sunod 's previouslsiblosi (axT.ehild --medi:
 ly.above-it)"""ge(4):
 xi=sx   
 ry,n_nod Eehild_nod sEindex
==  )-1ge(4)))))nf i >= 0nubottit   = th,Dnim sx   
 ry,n_nod Eehild_nod s[i]tNo ifioi    nubottit   = th,Dnim  = (
nxS  o  ln.0,_siblf.nn)iG
 x"= x_"""Re,('Sunod 's n.0,lsiblosi (axT.ehild --medi:
 ly.be--- it)"""ge(4):
 xi=sx   
 ry,n_nod Eehild_nod sEindex
==  )+1ge(4)))))nf i 'lenu):
PVT_mousefocus)tNo ifioi# aotally.arbitrary y0n hopefull n0.tuitive 1efa keybi:
osis
 t expat# stole 'em -rom oZT=]used by microsoft tree.eontrol
 t expat# page-up/page-down
e(4):
 xf.nnE b  (''lenu):
pagedown)
 t expatf.nnEbb  (''lenu):
pageup)tNo ifioi# arr---up/arr---down
e(4):
 xf.nnE b  (''lenu):
n.0,)
 t expatf.nnEbb  (''lenu):
prev)tNo ifioi# arr---lef-/arr---rted:
 t expatf.nnEbb  (''lenu):
ascend)tNo ifioi# (hold )mip#down=):
s     xp):
 axT.y,nirl tree)
 t expatf.nnEbb  (''lenu):
descend)tNo ifioi# home/end
 t expatf.nnEbb  (''lenu):
0,rst)
 t expatf.nnEbb  (''lenu):
/pl()tNo ifioi# space bar
 t expatf.nnEbb  (''lenu):
toggli) 
fioi# ----- PRIVATE METHODS (ph,fixedaz    "PVT_") -----nxS  # thesenmethods arfosub ini skse *  s0.m  pleas4)try)ast )ksuse axTm-    o  lPVT_mousefocuslf.nnnn ny,n)iG
 x"= x_"""Soakfup  ny,n0argumy,n zuin(moused-over"""ge(4):
 xf.nnEfocus_seb( tNo ifioinxS  # ----- PUBLIC METHODS -----nxS  o  l2ag_ b  sf.nnnntaglenuqnn*args, **kw_args iG
 x"= x_"""Keep trackcodeua--  fi bi:
osis no w "u):(  0 f)aaxTm l:
 -. Ige(4):
 xfhouldn'tlhavelskseo this!!!!"""ge(4)))))#)px"= args  x nuper:
x"=ge(4)))))func_-d="""ly(Canvas.2ag_ b  , sf.nnnntaglenuq)+args, kw_args tNo ifioi#nsave)refere c)s
 t expatf.nnEbi:
osis[tag]=f.nnEbi:
osis.geb(tagle[])+[(nuqnnfunc_-d)]u yf  o  ladd_l---(f.nnnnl---= = (, nx == = (, -d= = (, flag=n,ngle  Dz = [3,n    xp):
ed_i   = = (, co--apsed_i   = = ( iG
 x"= x_"""Ad
(nod "   el,u11ionai.fofsksl---"""ge(4):
 xn=xt,u11(t,erobotchn
nx ==ix =G t expatnEid=idge(4)))))ntflag=flagtNo ifioiif co--apsed_i   nubottit   = tnEcu--apsed_i   =cu--apsed_i   ge(4)))))    nubottit   = tnf 0lagnubottit   = t:
 x# in's  xp):
abli, use closCd -p-der i   ge(4)))))it   = tnEcu--apsed_i   =f.nnEcu--apsed_i   ge(4)))))it      nubottit   = tn1.t# in's ast exp):
abli, use regularuf,ne i   ge(4)))))it   = tnEcu--apsed_i   =f.nnEregular_i   ge(4)))))if flagnubottit   = tif  xp):
ed_i   nubottit   = tn1.tnE xp):
ed_i   = xp):
ed_i   
 t expatit      nubottit   = tn1.tnE xp):
ed_i   =f.nnE xp):
ed_i   ge(4)))))    nubottit   = t# ast exp):
abli, un'tlneed an ,   
 t expatit  nE xp):
ed_i   = = (
 t expatnf ,---c=ll = (4tNo ifioiyr=bl---=[]tNo ifioil---"""ern(n)
 t expatre,('Sul---u yf  o  ladd_nod (f.nnnnnx == = (, -d= = (, flag=n,  xp):
ed_i   = = (,ngle  Dz = [3,n   co--apsed_i   = = ( iG
 x"= x_"""Ad
(a(nod "durosi geb_cun -nts_ca--  fil)"""ge(4):
 xf.nnEadd_l---(f.nn.new_nod s, n0,n,)-d, flag,  xp):
ed_i   ,ngle  Dz = [3,n   .yiolcu--apsed_i   )t yf  o  lfind_0ull_id(f.nnnnsearch)iG
 x"= x_"""Search n1.0a nod """ge(4):
 xh,,('Susx   ftonEPVT_findlf.arch)e(4)nxS  o  l1ursp,_nod (f.nnnnsearch)iG
 x"= x_"""Re,('Sunod  under 1ursp,"""ge(4):
 xh,,('Susx   
os
 t expatnxS  o  lse (f.nnnn*,tTBs)iG
 x"= x_"""Scroll (0.0apseri)s odenue00s) no ,tTBs arfovisible"""ge(4):
 xx1, y1, x2, y2="""ly(s.nnEbboxnn,tTBs tNo ifioiwh,ne x2 >_f.nnE1anvasx(0)+f.nnEel.fo_eleth(tnu     t expatp-d=f.nnE1anvasx(0)ubottit   = tf.nnExview('fcroll'le1, 'units')tNo ifioiiiii#:avoidme:
l,ss looptnf w "u):'tlfcrollubottit   = tif old defsx  E1anvasx(0)nubottit   = tn1.tbreaktNo ifioiwh,ne y2 >_f.nnE1anvasy(0)+f.nnEel.fo_heted:(tnu     t expatp-d=f.nnE1anvasy(0)ubottit   = tf.nnEyview('fcroll'le1, 'units')tNo ifioiiiiiif old defsx  E1anvasy(0)nubottit   = tn1.tbreaktNo ifioi#"d= ( i.0tpis p,der )ome:surT.u""er-lef-codeo, ini is visibletNo ifioiwh,ne x1 'lenu):
popup_menu)ge(4):
 xf.nnEele00n.2ag_ b  sf.nnEl f)f, '<3>'lenu):
popup_menu)g
:
 x#)popfup menu oSurted: clickubotto  lpopup_menulf.nnnn ny,n)iG
 x"= x_menu=Menulf.nnEele00n, 2.aroff=0)ubottit  menuEadd_cumm):
(l f)f='View', comm):
=s.nnEview)ubottit  menuEadd_cumm):
(l f)f='Watch', comm):
=s.nnEwatch)ubottit  menuEadd_cumm):
(l f)f='P's -', comm):
=s.nnEp's -)ubottit  menuEadd_cumm):
(l f)f='Help', comm):
=s.nnEhelp)ubottit  menuEtk_popup( ny,n.x_fton,  ny,n.y_fton)tnxS  o  lwatch=f.nn)iG
 x"= x_f.nnEele00n.watchCa--  filf.nnE0ull_id( )nxS  o  lpasAr(f.nn)iG
 x"= x_f.nnEele00n.pasArCa--  filf.nnE0ull_id( )nxS  o  lhelp(f.nn)iG
 x"= x_f.nnEele00n.helpCa--  filf.nnE0ull_id( )nxS  o  lview(f.nn)iG
 x"= x_f.nnEele00n.viewCa--  filf.nnE0ull_id( )no:
x"= TreeWb  ow(Topnev)f)iG
 x"o  lr=t1.0,elf.nnnnfton, ,tTB, cun -nts_ca--  fi,lwatch_ca--  fi,ngle  Dz = [3,n   pasAr_ca--  fi,lhelp_ca--  fi,lview_ca--  fi)iG
 x"= x_Topnev)f)r=t1.0,elf.nnnnfton)tNo ifiois.nnEtree.= Tree(F's -- efsx  ,ngle  Dz = [3,n           fton_-d=,tTB,ngle  Dz = [3,n           fton_l f)f=itTB,ngle  Dz = [3,n           geb_cun -nts_ca--  fi=cun -nts_ca--  fi,ngle  Dz = [3,n           eleth=30n,ngle  Dz = [3,n           bg='whi -',ngle  Dz = [3,n           nod _:
x"==ClickNod )tNo ifiois.nnEtitle("Pyrobst O, ini Viewer: " + ,tTB)tNo ifiois.nnEtree.watchCa--  fi efwatch_ca--  fitNo ifiois.nnEtree.pasArCa--  fi efpasAr_ca--  fitNo ifiois.nnEtree.helpCa--  fi efhelp_ca--  fitNo ifiois.nnEtree.viewCa--  fi efview_ca--  fitNo ifiois.nnEtree.grid(row=n, cu-umn=n, icky='nsew')ge(4):
 xf.nnEgrid_ftw1undf _nr(0,iteted:=1)
 t expatf.nnEgrid_cu-umn1undf _nr(0,iteted:=1)
 t expatfb=Scrollbar(se  )ge(4):
 xfb.grid(row=n, cu-umn=1, icky='ns')ge(4):
 xf.nnEtree.1undf _nr(yfcrollcomm):
=sb.s0n)tit   = tsb.1undf _nr(comm):
=s.nnEtree.yview)ubottit  fb=Scrollbar(se  , 1.ty,n="horizontal")ge(4):
 xfb.grid(row=1, cu-umn=n, icky='ew')ge(4):
 xf.nnEtree.1undf _nr(xfcrollcomm):
=sb.s0n)tit   = tsb.1undf _nr(comm):
=s.nnEtree.xview)ubottit  f.nnEtree.focus_seb( tnxS  o  l  stroy(f.nn)iG
 x"= x_f.nnEelth    ( tNo ifioin------------------------------------------------------------------------------o# the good 'olntt),/demo cod 
i lr=n0,n__ def'__main__'iG
 x"-------os
 t e-------sys

:
 x#)1efa rout.ZTfsks00n cun -nts pfugubareeeeeee# sup-ly)tpis -1.0a differe -ctype-odeappeeeee# argumy,n ismaxT.nod "o, ini beosi  xp):
edge(4)#xfhouldtca-- add_nod ()ubotto  l00n_cun -nts(nod )iG
 x"= x_path="""ly(osEp th.join, nod E0ull_id( )nxS      -1.0f,neix =_in-os.l---dir(p th):
     t expat0ull=osEp th.join(p th,0f,neix =)tNo ifioiiiiinx ==f,neix =
     t expat0p-der=ntNo ifioixpatif osEp th.isdir(0ull)nubottit   = tn1.t# in'sla(dirinioryngle  Dz = [3,n  0p-der=1ge(4)))))))))elif ast osEp th.isf,ne(0ull)nubottit   = tn1.t# but in's ast auf,netNo ifioiiiiifioinx ==ix =+' sfpecial)'tNo ifioixpatif osEp th.islink(0ull)nubottit   = tn1.t# in'sla(linktNo ifioiiiiifioinx ==ix =+' slinkfsks'+osEreadlink(0ull)+')'tNo ifioixpatnod Eele00n.add_nod (nx ==ix =, -d=f,neix =, flag=fo-der)

:
 xfton=Tk()ubottfton
title(osEp th.basCix =(sys.argv[0]))ubottaree=osEsepeeeeeif sys.plat-1.m def'win32'       nubottetuould call tpl fton "My Compu --""andnFnss z    00n_cun -nts()tNo ifioi# aoth,Dnim "A:", "B:", "C:", ... etc. asn,t's childry,, but tmag      nubottould j b  terminally.cun andnI'dlhavelsksfhost mysx  g     nubaree='C:'+osEsepege(4)#xcn axT.eontrol
 t en=Tree(F's --=fton,ngle  Dz = [fton_-d=aree,ngle  Dz = [fton_l f)f=aree,ngle  Dz = [geb_cun -nts_ca--  fi=geb_cun -nts,ngle  Dz = [eleth=30n)ubotta.grid(row=n, cu-umn=n, icky='nsew')gge(4)#xmak)a xp):
abliubottfton
grid_ftw1undf _nr(0,iteted:=1)
 t efton
grid_cu-umn1undf _nr(0,iteted:=1)
eeeee# addnscrollbars
 t efb=Scrollbar(fton)tNo ifb.grid(row=n, cu-umn=1, icky='ns')ge(4)t.1undf _nr(yfcrollcomm):
=sb.s0n)tit  sb.1undf _nr(comm):
=t.yview)u
 t efb=Scrollbar(fton, 1.ty,n=HORIZONTAL)tNo ifb.grid(row=1, cu-umn=n, icky='ew')ge(4)t.1undf _nr(xfcrollcomm):
=sb.s0n)tit  sb.1undf _nr(comm):
=t.xview)u
 t e# m 00n focus no keys zork n1.0 emoge(4)t.focus_seb( tnxS  ottetuould do w   oun axis, but in's aice ):
sf.ty,dlyaskshavenxS  Button(fton, 2.0,='Quin', comm):
=fton
quin).grid(row=2, cu-umn=n,ngle  Dz = [3,n                                        cu-umnsp):=2 tnxS  ot xp):
 oun axT.ftonge(4)t.fton
 xp):
()tNo i
 t efton
mainloop()tpyrobst/gui/tty.py0100644000076400003100000000406310266117210014211 0u  dblankfacy-------cod ,)readlin ,)nxin, 1snnsys
-rom pyrobst.guie-------gui
-rom pyrobst.systTBl-------version
o:
x"= TTYGui(cod .In --activeConsoli, gui)iG
 x"o  lr=t1.0,elf.nnnnf,neix =="",ngle  Dz = [3,n   xistf,ne=osEp th. xp):
user("~/.pyrobstxist"),ngle  Dz = [3,n   engsZT= = ()nubottit  cod .In --activeConsoli)r=t1.0,elf.nn)ubottit  f.nnEt1.0,xistory(xistf,ne)ubottit  gui)r=t1.0,elf.nnnn"TTY Gui", engsZT = engsZT)tnxS  o  lin.0,xistory(f.nnnnxistf,ne)nubottit  readlin Ep rse_):
_ b  s"tab: comp0 f)")ge(4):
 xif hasattr(feadlin ,)"fead,xistory_f,ne")nubottit   = ttrynubottit   = tfioireadlin Efead,xistory_f,ne(xistf,ne)ubottit  n   e      IOErrornubottit   = tfioipx"=tnxS  o  lsave,xistory(f.nnnnxistf,ne ll = ()nubottit  if histf,ne lll = (4tNo ifioiyr=bxistf,ne=osEp th. xp):
user("~/.pyrobstxist")ubottit  readlin Ewrite,xistory_f,ne(xistf,ne)unxS  o  l   =t1pu (f.nnnnprompt        nubotin.0 bussZT=sGEF:
c otifns.nnEengsZT.gui.watchernubottit   = ts.nnEengsZT.gui.watcherEu h:
 (s.nnEengsZT.gui.environmy,n)ge(4):
 xh,Dnim cod .In --activeConsoli)   =t1pu (f.nnnnprompt tnxS  o  lpush(f.nnnnl-ne)nubottit  retval efsx  .processCumm):
(lsZT)tNo ifioiif fetval ee 1iGbottit   = tsys.nxin(0)ubottit  h,,('StNo i#)nf     wa,n pyaxon sks
rocess       nuboh,Dnim cod .In --activeConsoli)push(f.nnnnl-ne)unxS  o  l un(f.nnnn nalcomm):
 ef[])iG
 x"= x_fys.ps1 ef"pyrobst> "ge(4):
 xd= ( = ntNo ifioiwh,ne ,,dt nalcomm):
) > 0=):
s1= ( == 0nubottit   = tpri,n  nalcomm):
[0],ubottit   = tretval ef nalcomm):
[0].strop()tNo ifioin1.t nalcomm):
 ef nalcomm):
[1:]tNo ifioixpatd= ( = sx  .processCumm):
(retval)
 t expatbann--=("=========================================================\n"+ubottit   = tfioi"Pyrobst, Pyaxon Robsticsnn(c) 2005, D.S. Blank\n" +ubottit   = tfioi"http://PyroRobstics.org\n" +ubottit   = tfioi"Version " + version() + "\n" + ngle  Dz = [3,n  "=========================================================")ge(4):
 xif non do (4tNo ifioiyr=bf.nnEin --act(bann--=bann--)
 t expatf.nnEsave,xistory()uni lr=n0,n__ def"__main__"4tNo iconsoli.= TTYGui()tNo iconsoli. un()tpyrobst/map/0040755000076400003100000000000010270502706013013 5u  dblankfacypyrobst/map/r=t1.0,e.py0100755000076400003100000000716510260524106015132 0u  dblankfacy# pyrobst/map/r=t1.0,e.py
o:
x"= Map4tNo i""" Basic :
x"= n1.0global in --nalsrobst map="""gG
 x"o  lr=t1.0,elf.nnnncols,mr--s,[elethMM,lheted:MM)iG
 x"= x_""" C  el,u11ormn1.0basic map :
x"= """ge(4):
 xnu):
cols.= colsge(4):
 xnu):
r--s.= r--sge(4)):
 s.nnEelethMM efwlethMMge(4)):
 s.nnEheted:MM efheted:MMge(4)):
 s.nnEorigsZMM efs.nnEelethMM / 2.0, s.nnEheted:MM / 2.0ge(4):
 xnu):
colScaleMM efs.nnEelethMM / nu):
colsge(4):
 xnu):
r--ScaleMM efs.nnEheted:MM / nu):
r--sge(4):
 xnu):
reseb( tnxS  o  lreseb(f.nnnnv     = n.5)iG
 x"= x_f.nnEgrid ef[[v     n1.0coln0.0,ny,
 nu):
cols)]ngle  Dz = [3,n       n1.0r--n0.0,ny,
 nu):
r--s)]tNo ifiois.nnEl f)f ef[['' n1.0coln0.0,ny,
 nu):
cols)]ngle  Dz = [3,n        n1.0r--n0.0,ny,
 nu):
r--s)]tnxS  o  lsetGridL
cation(f.nnnnx, y,nv    , l f)f ll = (, absolun = n)nubottit  if( absolun == n )nubottit   = tx _n}d in ((s.nnEorigsZMM[0] + x) / nu):
colScaleMM)tNo ifioin1.ty _n}d in ((s.nnEorigsZMM[1] - y) / nu):
r--ScaleMM)tNo ifioi    nubottit   = tx _n}d xtNo ifioiiiiiyp_n}d y
GEF:
c otifns.nnEinRny,
 y _n,.x _n)iG
 x"= x_:
 x# if hit waslalh,adya1etected,"leaven,t al= (!G
 x"= x_:
 x##ifns.nnEgrid[y _n][x _n]]!= 1.04tNo ifioiyr=bf.nnEgrid[y _n][x _n]]=nv    tNo ifioixpatif l f)f !ll = (4tNo ifioiyr=byr=bf.nnEl f)f[y _n][x _n]]=n"%d" %.l f)fu):
 ):
     nubottit   = tpri,n "INVALID GRID LOCATION"gG
 x"o  lgetGridL
cation(f.nnnnx, y,nabsolun = n )nubottit  if( absolun == n )nubottit   = tx _n}d in ((s.nnEorigsZMM[0] + x) / nu):
colScaleMM)tNo ifioin1.ty _n}d in ((s.nnEorigsZMM[1] - y) / nu):
r--ScaleMM)tNo ifioi    nubottit   = tx _n}d xtNo ifioiiiiiyp_n}d y
GEF:
c otifns.nnEinRny,
 y _n,.x _n)iG
           h,Dnim(bf.nnEgrid[y _n][x _n]])tNo ifioi    nubottit   = tpri,n "INVALID GRID LOCATION"g
           h,Dnim(b-1])tNo ifioiG
 x"o  laddGridL
cation(f.nnnnx, y,nv    , l f)f ll = (, absolun = n )nubottit  if( absolun == n )nubottit   = tx _n}d in ((s.nnEorigsZMM[0] + x) / nu):
colScaleMM)tNo ifioin1.ty _n}d in ((s.nnEorigsZMM[1] - y) / nu):
r--ScaleMM)tNo ifioi    nubottit   = tx _n}d xtNo ifioiiiiiyp_n}d y
GEF:
c otifns.nnEinRny,
 y _n,.x _n)iG











f.nnEgrid[y _n][x _n]]+=nv    tNo ifioixpatif l f)f !ll = (4tNo ifioiyr=byr=bf.nnEl f)f[y _n][x _n]]=n"%d" %.l f)funxS  o  linRny,
 nu):,mrnnc)nubottit  retnim r >= 0=):
sr = 0=):
sc 
f.nnE,eg2maxu):
s1ist <=
f.nnE,eg1maxu)nubottit   regioni= 1tNo ifiel  nubottit   regioni= 3
tNo ifi# set hny,
.):
sfield basCd oSupreviouslknowled,
.):
seurry,n readosisubottitif( regioni== 1u)nubottit   r.= (f.nnE,ny,
.-ndist)/f.nnE,ny,
ubottit   f.= (f.nnEfield -uasi,e)/f.nnEfield ubottit   #pri,n "ottit   r:", rnn"ottif", fubottit   reDnim(b((r+f) / 2).* f.nnEmaxOccupied )
tNo ifielif( regioni== 2u)nubottit   reDnim(b1.0 -usx  .probEmpty( dist,uasi,ee)])tNo ifielif( regioni== 3u)nubottit   reDnim(b-1])tubot"""ge(4-------------------------------------------------------------------------ge(4probEmpty: compun axT.probabilityctmagna givenxl
cationx0seNOTeoccupiedge(4-------------------------------------------------------------------------ge(4 udist:udista c)e-rom robst sks/
cationge(4 uasi,e:uasi,ee-rom robst -rom zerolheadosi of
f.nsp,G
 x"""ge(4o  lprobEmpty( f.nn, dist,uasi,ee)nubottit# df _nr oun wmagnregionubottitif( dist <=
f.nnE,eg2maxu)nubottit   regioni= 2tNo ifielif( dist >
f.nnE,eg2maxu):
s1ist <=
f.nnE,eg1maxu)nubottit   regioni= 1tNo ifiel  nubottit   regioni= 3
tNo ifi# calculan andnretnim probabilitycbasCd oSuBay s.RunetNo ifiif( regioni== 1u)nubottit   reDnim(b1.0 -usx  .probOccupied(bdist,uasi,ee)])tNo ifielif( regioni== 2u)nubottit   r.= (f.nnE,ny,
.-ndist)/f.nnE,ny,
ubottit   f.= (f.nnEfield -uasi,e)/f.nnEfield ubottit   #pri,n "ottit   r:", rnn"ottif", fubottit   ubottit   reDnim((r+f) / 2)tNo ifi# noaxosif)ksb md= ( i.0regioni3 -usi c)ew "didn'tlfindmanyaxositNo ifielif( regioni== 3u)nubottit   reDnim(b-1])tubot"""ge(4-------------------------------------------------------------------------ge(4getProb: compun axT.probabilityctmagna givenxl
cationx0seNOTeoccupiedge(4-------------------------------------------------------------------------ge(4 udist:udista c)e-rom robst sks/
cationge(4 uasi,e:uasi,ee-rom robst -rom zerolheadosi of
f.nsp,G
 x uprevV  : 00n probabilityc-rom previousli --ationsG
 x"""ge(4o  lgetProb( f.nn, dist,uasi,e,uprevV  e)nubottit# gegnregionubottitif( dist <=
f.nnE,eg2maxu)nubottit   regioni= 2tNo ifielif( dist <=
f.nnE,eg1maxu)nubottit   regioni= 1tNo ifiel  nubottit   regioni= 3
tNo ifi# inverseuprobabilitycodeold v    tNo ifiprevV  Invi= 1 -uprevV  ubottit# gegna.w probabiliti)sge(4):
probOcc = sx  .probOccupied(bdist,uasi,ee)ge(4):
probEmpty = sx  .probEmpty( dist,uasi,ee)
tNo ifi# Calculan Bay siam probabilityubottitif( probOcc ==b-1]or
probEmpty ==b-1])nubottit   reDnim(bprevV  e)tNo ifiel  nubottit   reDnim(b(probOcc *bprevV  ) / (b(probOcc *bprevV  ) +b(probEmpty *iprevV  Inv)e)])tNubot"""ge(4-------------------------------------------------------------------------ge(4u h:
 FromLPS: u h:
  v    s.basCd oSuLPSge(4-------------------------------------------------------------------------ge(4 ulps: :
x"= cun at1.si"f.nsp, 1,  nxS   r-bst: cun at1sai.formationxaboun eurry,n r-bstG
 x"""ge(4o  lu h:
 FromLPS(f.nnnnlps,mr-bst)nutNo ifi# axosis w "willlneednubottit#gridnnx, y,nth,0cellxMM, cellyMMnubottit#f.nnEeanvas. e0 f)f"old")ge(4):
x.= r-bst.x *i100nge(4):
y.= r-bst.y *i100nge(4):
thr.= r-bst.thrtNo ifi# InuGPS, axT.origsZx0sean axT.bottomllef-ceorner.tNo ifi# ThisnmatchesmaxT.way zorld f,nes arfospecified.tNo ifiyp_n}d nu):
r--s.- in (y / nu):
r--ScaleMM).- 1tNo ifix _n}d in (x / nu):
colScaleMM)ttNo ifi##    w oun axT.son readosisc-rom axT.LPSge(4   fp,n,n0.0,ny,
 lps
r--s):
     t ex0p,njn0.0,ny,
 lps
cols)nubottit   = t#
y.comp= (,n ismnegative because yfup ism _nitiveubottit   = txMM ef(j.-  lps
cols / 2)).* lps
colScaleMMubottit   = tyMM ef-1]* (i.-  lps
r--s./ 2)).* lps
r--ScaleMMubottit   = t#
cos(0)i= 1, nin(0)i= ntNo ifioixpatxrst ef(xMM *
cos(thr).- yMM *
nin(thr))tNo ifioin1.tyrst ef(xMM *
nin(thr) +byMM *
cos(thr))
ubottit   = t#
curry,n l
cationx0.0ques
o  
 t expatit  xhit =
x.+txrst tNo ifioin1.tyhit =
y +byrst tubottit   = t#
curry,n cellx0.0ques
o  
 t expatit  xcellxd in (xhit / nu):
colScaleMM)tNo ifioin1.tycellxd nu):
r--s.- in (yhit / nu):
r--ScaleMM).- 1tubottit   = t#
dista c)e-rom robst skscurry,n l
cationubottit   = tdist = nqrn(xrst*xrst +byrst*yrst)tNo ifioiiiiinxS  it   = t#
robst'sm _nitionubottit   = toldxxd in (xcellx* nu):
colScale) +b(nu):
r--s/3)ubottit   = toldyxd in (ycellx* nu):
r--Scale).-  nu):
cols/3)uubottit   = t#
curry,n l
cationxv    tNo ifioixpatoldVal efsx  .getGridL
cation(toldx,toldy, 1])tNo ifioi = t#
_NoConvert(toldx,toldy )uubottit   = t#
LPSmgridnonly holds 3uv    snubottit   = t#
 0:u h:
 d andnnoaxosif)uireubottit   = t#
 0.5:non u h:
 d - nonidea wmag'smuireubottit   = t#
 1: u h:
 d andnsomethosifwaslhituubottit   = t#
lps s w somethosifuires- u h:
  in's probabilitycubottit   = tif lps
grid[i][j]i== 1.04tNo ifioiyr=b= t#
occ = lps
grid[i][j]tNo ifioiyr=b= tocc = sx  .getProb( dist,u0,toldVal )tNo ifioi = ttttsx  .plotCell( xcell,tycell,tocc ) #"black")tNo ifioi = ttttubottit   = t#
lps never u h:
 d - leaventhesenl
cations al= gubottit   = telif lps
grid[i][j]i== 0.5:tNo ifioi = ttttsx  .plotCell( xcell,tycell,toldVal ) #ubottit   = t#
lps u h:
 d axis, ):
sfou:
 noaxosif-a1eterior:
  v    ubottit   = tel  nubottit   = tn1.sx  .plotCell( xcell,tycell,toldVal * n.1 )ttNo ifi## now    w oun axT.p th pfuaxT.r-bstG
 xifi## ifns.nnEinRny,
 y _n,.x _n)iG





## n1.sx  .plotCell(x _n,.y _n,.2.0 ) #)"fed")gG





## pri,n "--------DONE WITH
LPS---------"tNubot"""ge(4-------------------------------------------------------------------------ge(4plotCell: setsla(
_i,n up )ksb mplot
 d - nonl= ger a11ua-ly plotsla(cellubottit   = tn)mip#doesnnhowever, u h:
  the gridll
cation z    axT.n.w v    ubot-------------------------------------------------------------------------ge(4fix _n:
x.cuordin:
  oSumapnxS   y _n:
y.cuordin:
  oSumapnxS   v    n.n.w v    x0p,n[x,y]G
 x"""ge(4o  lplotCell( f.nnnnx _n,.y _n,.v    x)nubottit# df _nr oun wmich cellx)mip#represen sge(4):
xCellxd in (x _n}* nu):
colScale) +b(nu):
r--s/3)ubottityCellxd in (y _n}* nu):
r--Scale).-  nu):
cols/3)uubottit# 00n axT.curry,n v    ubottitoldVal efsx  .getGridL
cation(txCell,tyCell, 1])t#
_NoConvert(txCell,tyCelle)
tNo ifi# nolneed )ksu h:
  if.v    xis:'tle *  ositNo ifiif( v    x!=toldVal )nubottit   #)un'tlwa,n to 00n aoo smallx0.0cas4)somethosife *  spngle  Dz =if( v    x< n.001 )nubottit   = tv     = n.001ubottit   #)un'tlwa,n to 00n aoo lar00,x0.0cas4)somethosife *  spngle  Dz =elif( v     > n.98 )nubottit   = tv     = n.98
tNo ifi fi# set axT.v    ubottit   f.nnEsetGridL
cation(txCell,tyCell, v    ,  = (, 1])tNo ifioi #
_NoConvert(txCell,tyCell, v    ,  = ( )uubottit   # u h:
  the e *  sdV    s.tuple z    axismnew.cuordin:
    ,
No ifioi
f.nnEe *  sdV    s.= f.nnEe *  sdV    s,f(xCell,tyCell)tubot"""ge(4-------------------------------------------------------------------------ge(4fed  w:4fed  ws the graphical mapnxS -------------------------------------------------------------------------ge(4"""ge(4o  lfed  w( f.nnx)nubottit# traverseuthrough u h:
 d 
_i,ns.- fed  wuthose 
_i,ns.oSumapnxS   iwh,ne( ,,dt
f.nnEe *  sdV    s.) )nubottit   f.nnEe *  sdV    s,f(r--,col).= f.nnEe *  sdV    subottit   val efsx  .getGridL
cation(tr--, col, 1])t#
_NoConvert(tr--, col )uu## n1.   #)u  ws oun robst p th -- nonl= ger used!!u## n1.   z =if( v  i== 2.n )nu## n1.   z =   color.= "fed"u## n1.   z =   f.nnEeanvas.cn_ax11asi,e(r---1, cu--1, r--+1, cu-+1,u## n1.   z =                                eleth = n,u## n1.   z =                                fill=colornntag.= "old")g## n1.   z =el  nubottit   color.= "gray%d" %.((1-val)*100)iiiiiiiiiiiiiiiiiiiiiiiiiiiubottit   f.nnEeanvas.cn_ax11asi,e(r--, col, r--+1, cu-+1,u   z =                                eleth = n,u   z =                                fill=colornntag.= "old")giiiiiiiiiiiiui lr=n0,n__ def'__main__'iG
 x"gps.= GPS(50nn50)G
 x"gps"""lication = 1tNo igpsmainloop()tpyrobst/map/lps.py0100755000076400003100000001267010263033112014161 0u  dblankfacy
-rom pyrobst.map.tkmap -------TkMap
-rom math -------cos, nin, pi, nqrn
o:
x"= LPS(TkMap)nubot"""ge(4GUIt0p,nvisu  izosi the l
cal per:ep1ua-uspace odeasrobst.ubot"""g x"o  lr=t1.0,elf.nnnncols,mr--s,[v     = n.5,ngle  Dz = [3,n  elethi= 2n0,lheted:i= 2n0,ngle  Dz = [3,n  elethMM ef75n0,lheted:MM ef75n0,ngle  Dz = [3,n  title]=n"L
cal Per:ep1ua-uSpace")nubottit""" Px"= i fgridncols,mgridncells,mandntotalneleth/heted:i0.0MM"""ge(4):
f.nnEstep = ntNo ifiTkMap)r=t1.0,elf.nnnncols,mr--s,[v    ,ngle  Dz = [3,n       eleth,lheted:,ngle  Dz = [3,n       elethMM,lheted:MM, title)
g x"o  lcolor(f.nnnnv    , maxv    )nubottitv     = 1.0 -uv     / maxv    ubottitcolor.= "gray%d" %.in (v     *i100.0 ige(4):
h,Dnim color
g x"o  lcompunOccupa cy(se  , 1.tgx, 1.tgynnxitxnnxity,narc,"f.nseObcl , l f)f ll = ()nubottit"""ubottitIn.0i  ly only compun occupa ci)s oSuaxT.l-nec-rom axT.robst skge(4):
the"f.nsp, xit.iiubottit"""ubottitif sx   debug: pri,n "occupa cyGrid:",f(1.tgx, 1.tgynnxitxnnxity)tNo ifi# set axT.origsZxof
f.nsp, empty:ge(4):
f.nnEsetGridL
cation(1.tgx, 1.tgynn0.0 ge(4):
his  = xity -u1.tgyubottitif abs(his )x< n.1iGbottit   his  = ntNo ifirun  = xitx -u1.tgxubottitif abs(hun)x< n.1iGbottit   hun = ntNo ifistepn}d in (rou:
(max(abs(his /nu):
r--ScaleMM), abs(hun/nu):
colScaleMM))))tNo ifiif stepn}d= 0nubottit   f.nnEsetGridL
cation(xitxnnxity,n1.0, l f)f)ge(4):
 xih,,('StNo ifistepx.= run / float(stepn)ubottitif abs(stepx) >_f.nnE1olScaleMMnubottit   ftepx.= f.nnE1olScaleMMngle  Dz =if run < 0nubottit   = tftepx.*ef-1tNo ifistepy.= ris  / float(stepn)ubottitif abs(stepy) >_f.nnEr--ScaleMMnubottit   ftepy = sx  .r--ScaleMMubottit   if ris  < 0nubottit   = tftepy.*ef-1tNo ificurrx.= 1.tgxubottitcurry.= 1.tgyubottit0p,nstep 0.0,ny,
 ntepn)nubottit   curry.+=tftepyubottit   currx.+=tftepxubottit   f.nnEsetGridL
cation(currx, currynn0.0, l f)f)ge(4):
if"f.nseObcl nubottit   f.nnEsetGridL
cation(xitxnnxity,n1.0, l f)f)ge(4):
el  nubottit   f.nnEsetGridL
cation(xitxnnxity,n0.0, l f)f)gg x"o  lf.nsp,Hitslf.nnnnftbon, ,tTB)nubottit"""ubottitP_i,n (0,0 iisll
cat d an axT.cen -- pfuaxT.r-bst.ubottitP_i,n (offx, 1ffy) ismaxT.l
cation pfuaxT.f.nsp, oSuaxT.r-bst.ubottitThetax0seasi,eepfuaxT.f.nsp, hit relative to headosi 0.ubottitDist ismaxT.dista c)epfuaxT.hit -rom axT.f.nsp,.ubottitGivenxthesenv    s,fneed )kscalculan axT.l
cation pfuaxT.hitubottitrelative to the een -- pfuaxT.r-bst (xitxnnxity).iiungle  Dz = [3,n      .(xitxnnxity)tNo ifiiiiiiiiiiiiii/tNo ifiiiiiiiiiiiii/ ngle  Dz = [3,n   /ttubottit   = dist /tt ngle  Dz = [3,n /tt  ngle  Dz = [3,n/tt   ngle  Dz = [3,/thetaxngle  Dz = [3.-------ge(444444444(offx, 1ffy)ge(444444
z = [3.-->headosi 0
z = [3(0,0 
444444
z = [3"""ubottitorigsZalUnits.= r-bst.__dic0,e[,tTB].unitsubottitr-bst.__dic0,e[,tTB].units.= 'METERS'tNo ifiradous.= r-bst.radoustNo ifi# -----------------------------------ge(4   fp,n,n0.0,ny,
 r-bst.__dic0,e[,tTB].cou:t)nubottit   #)0.0MMnubottit   offx, 1ffy, z, axTta,narc.= r-bst.__dic0,e[,tTB][i].geometryngle  Dz =#)0.0METERS, because w    ,n,t soxabov nubottit   dist = r-bst.__dic0,e[,tTB][i].v    ubottit   if dist ",ns.nnEincseCell),ngle  Dz = [3,n        ("",ns.nnEmidd0 Cell),ngle  Dz = [3,n        ("",ns.nnEdecseCell),ngle  Dz = [3,n        ("",ns.nnEincseCell),ngle  Dz = [3,n        ("",ns.nnEmidd0 Cell),ngle  Dz = [3,n        ("",ns.nnEdecseCell),ngle  Dz = [3,n        ("",ns.nnEfindP th),ngle  Dz = [3,n        ("",ns.nnEfetSn),ngle  Dz = [3,n        ("",ns.nnEfetGo  ),ngle  Dz = [3,n        ("",ns.nnEfetDoubln),ngle  Dz = [3,n        ("",ns.nnEdestroy)tNo ifiiiiiiiiiiiiii ,n]tNo ifiTkMap)r=t1.0,elf.nnnn50nn50, n.5,ngle  Dz = [3,n       2n0,l200, 100, 100,ngle  Dz = [3,n       "Occupa cy Grid",nmenu,ikey b  osis)tNo ifif.nnEthrnshhold = n.8tNo ifif.nnE
x"tMatrix.= f.nnEgridubottitf.nnE
x"tP th ll = (tNo ifif.nnEstn =nntNo ifif.nnEgoaln=.goaltNo ifif.nnEinft1.0y = 1e500nge(4):
f.nnEbigButNotInft1.0y = 500nge(4):
f.nnEv    ef[[f.nnEinft1.0y n1.0coln0.0,ny,
 nu):
cols)]ngle  Dz = [3,n     n1.0r--n0.0,ny,
 nu):
r--s)]tnxS o  lmyLoadMaplf.nn)iG
 x"= TkMap)loadMaplf.nn)ge(4):
f.nnEfed  w(f.nn.gridnn = ()tnxS o  lincseCelllf.nnnn ny,n)iG
 x"= f.nnEeanvas.focus_seb( t
 x"= cellColxd in (rou:
( ny,n.x /nu):
colScale) t
 x"= cellR--nd in (rou:
(( ny,n.y.- 15)/nu):
r--Scale))ge(4):
f.nnEgrid[cellR--][cellCol] = 1.0ge(4):
f.nnEfed  w( f.nn.gridnn = ()tnxS o  lmidd0 Celllf.nnnn ny,n)iG
 x"= f.nnEeanvas.focus_seb( t
 x"= cellColxd in (rou:
( ny,n.x/nu):
colScale) t
 x"= cellR--nd in (rou:
(( ny,n.y.- 15)/nu):
r--Scale))ge(4):
f.nnEgrid[cellR--][cellCol] = 0.5ge(4):
f.nnEfed  w( f.nn.gridnn = ()tnxS o  ldecseCelllf.nnnn ny,n)iG
 x"= f.nnEeanvas.focus_seb( t
 x"= cellColxd in (rou:
( ny,n.x/nu):
colScale) t
 x"= cellR--nd in (rou:
(( ny,n.y.- 15)/nu):
r--Scale))ge(4):
f.nnEgrid[cellR--][cellCol] = 0.0ge(4):
f.nnEfed  w( f.nn.gridnn = ()tnxS # Overloadednuboto  lc *  sS,nylf.nnnn ny,n = n)nubottits.nnEeleth efs.nnEelnfo_eleth().- 2ubottits.nnEheted:i= s.nnEelnfo_heted:().- 30 ott    menuG
 x"= f.nnEeanvas.1undf _nr(eleth efs.nnEeleth,lheted: efs.nnEheted:)ge(4):
f.nnEcolScalend in (rou:
(s.nnEeleth / nu):
cols))ge(4):
f.nnEf--Scalend in (rou:
(s.nnEheted: / nu):
r--s))ge(4):
trynubottit   f.nnEfed  w( f.nn.
x"tMatrix,tf.nnE
x"tP th)ge(4):
e     nubottit   px"=tnxS o  lcolor(f.nnnnv    , maxv    )nubottitif.v    x==if.nnEinft1.0ynubottit   reDnim "br--n"ubottitv     = 1.0 -uv     / maxv    ubottitcolor.= "gray%d" %.in (v     *i100.0 ige(4):
h,Dnim color
g x"o  lfetDoublnlf.nnnn ny,n)iG
 x"= f.nnEr--s.*= 2ubottits.nnEf--Scalend in (rou:
(s.nnEheted: / nu):
r--s))ge(4):
f.nnE1ols.*= 2ubottits.nnEcolScalend in (rou:
(s.nnEeleth / nu):
cols))ge(4):
f.nnEv    ef[[f.nnEinft1.0y n1.0coln0.0,ny,
 nu):
cols)]ngle  Dz = [3,n     n1.0r--n0.0,ny,
 nu):
r--s)]te(4):
f.nnEgridef[[0.0 n1.0coln0.0,ny,
 nu):
cols)]ngle  Dz = [3,n    n1.0r--n0.0,ny,
 nu):
r--s)]te(4):
f.nnEfed  w(f.nn.grid)gg x"o  lf.tGo  lf.nnnn ny,n)iG
 x"= f.nnEgoaln=.in (rou:
( ny,n.x/nu):
colScale) ,.\e(4):
 y"= y_blttitin (rou:
(( ny,n.y.- 15)/nu):
r--Scale))ge(4):
f.nnEfed  w(f.nn.grid)gg x"o  lf.tSnlf.nnnn ny,n)iG
 x"= f.nnEstn =nin (rou:
( ny,n.x/nu):
colScale) ,.\e(4):
 y"= y_blttittin (rou:
(( ny,n.y.- 15)/nu):
r--Scale))ge(4):
f.nnEfed  w(f.nn.grid)gg x"o  lfindP thlf.nnnn ny,n)iG
 x"= if sx   debug: pri,n "Fb  osi.p th..."G
 x"= if sx   grid[f.nnEgoal[1]][f.nnEgoal[ ]]]>if.nnEthrnshholdnubottit   rais  "NoP thExists", "goalni= i funattainabli.l
cation"G
 x"= e:
 ef1ntNo ifistn =n0ge(4):
f.nnEt1.0PlanP thl)ge(4):
d= ( = ntNo ifip th ll = (tNo ifiwh,ne non do (4tNo ifioiypri,n "Tryosi.%dli --ations..." %.e:
tNo ifioiytrynubottit   = tp th llf.nnEplanP thlf.nnEstn, f.nnEgoal,0,ny,
 ntn, e:
))tNo ifioin1.td= ( = 1tNo ifi oi       "NoP thExists"nubottit   = tif e:
 > 804tNo ifioiyr=b= td= ( = 1tNo ifi oi  tel  nubottit   = tn1.stn =ne:
tNo ifioiy
 x"= e:
 *= 2ubottitpri,n "i --ations:", endG
 x"= if p th4tNo ifioiypri,n "Do (!"ubottit   f.nnEfed  w(g.v    , p th)ge(4):
el  nubottit   rais  "NoP thExists", "maximum in --ation limiti    ded"ug x"o  lfed  w(f.nn, matrix,tp th ll = ()iG
 x"= f.nnE
x"tMatrix.= matrixubottitf.nnE
x"tP th llp thubottitmaxv  i= 0.0ge(4):
fp,n,n0.0,ny,
 nu):
r--s):
     t ex0p,njn0.0,ny,
 nu):
cols)nubottit   = tif matrix[i][j]i!=if.nnEinft1.0ynubottit   bottitmaxv  i= max(matrix[i][j], maxv  )tNo ifiif maxv  i== 0ntmaxv  i= 1tNo ifif.nnEeanvas. e0 f)f"cell")giiiiiifp,n,n0.0,ny,
 nu):
r--s):
     t ex0p,njn0.0,ny,
 nu):
cols)nubottit   = tf.nnEeanvas.1n_ax11asi,e(j}* nu):
colScale,ngle  Dz = [3,n                           i}* nu):
r--Scale,ngle  Dz = [3,n                           (j}+ 1)}* nu):
colScale,ngle  Dz = [3,n                           (i}+ 1)}* nu):
r--Scale,ngle  Dz = [3,n                           eleth = n,u   z =                                   fill=nu):
colp,tmatrix[i][j], maxv  ),ngle  Dz = [3,n                           tag.= "cell")tNo ifioin1.tif p th andnp th[i][j]i== 1nubottit   = tn1.sx  .eanvas.cn_ov  ((j}+ .25)}* nu):
colScale,ngle  Dz = [3,n                         (i}+ .25)}* nu):
r--Scale,ngle  Dz = [3,n                         (j}+ .75)}* nu):
colScale,ngle  Dz = [3,n                         (i}+ .75)}* nu):
r--Scale,ngle  Dz = [3,n                         eleth = n,u   z =                                 fill.= "b   ",ngle  Dz = [3,n                         2ag.= "cell")gG





sx  .eanvas.cn_2.0,(lf.nnEstn[0] + .5)}* nu):
colScale,ngle  Dz = [3,n                lf.nnEstn[1]}+ .5)}* nu):
r--Scale,ngle  Dz = [3,n                2ag.= 'cell',ngle  Dz = [3,n                2.0,="Sn", fill='green')G





sx  .eanvas.cn_2.0,(lf.nnEgoal[ ] + .5)}* nu):
colScale,ngle  Dz = [3,n                lf.nnEgoal[1]}+ .5)}* nu):
r--Scale,ngle  Dz = [3,n                2ag.= 'cell',ngle  Dz = [3,n                2.0,="Go  ", fill='green')Gg x"o  ltooTted:(f.nn, r--, col, i, j)nubottit""" Checklsksfee)nf     are:'tleut
osi aceorner n.0,.sksan obcl ."""ubottith,Dnim f.nnEv    [r--n+ i][col] == 1e500n]or
\e(4):
 y"= y_blttif.nnEv    [r--][coln+ j] == 1e500ntnxS o  lin.0PlanP thlf.nn)iG
 x"= f.nnEv    ef[[f.nnEinft1.0y n1.0coln0.0,ny,
 nu):
cols)] n1.0r--n0.0,ny,
 nu):
r--s)]tnxS o  lplanP thlf.nnnnn,.goal,li --ator)nubottit"""ubottitP th plan1.si"algorithm ismbasCd oSu= ( givenxby Thrun inuaxTubottitchap -- 'Map lear1.si"andnhted-speed navigationx0.0Rhino' -romge(4):
txT.book 'Artifici  iIn -llige c)eandnMob,ne Robsts' edi -d byge(4):
Kortenkamp, Bonasso,mandnMurphy.gG





Made twoikeyfe *  sp to the algorithm given.ubottit1. Whenxan occupa cymprobabilityc0seabov )some thrnshold,ix"=um ubottit   tmagnthe eellx0seoccupied.andns.,n,ts v    x0p,nsearch skge(4):
 ttinft1.0y.ubottit2. Whenxi --atisi over allxcells )ksu h:
  axT.f.arch v    s,faddge(4):
 ttinmaxT.dista c)e-rom axT.curry,n cellx)ks,ts netedbor.o Cellsge(4):
 x wmich arfohorizun al]or
vertical -rom axT.curry,n cellxareubottit   considered )ksbesaudista c)epfu1,iwh,ne cells wmich arfodiagonal
     t ex0rom axT.curry,n cellxare considered )ksbesaudista c)epfu1.41.ubottit"""ubottitnCol, nR--nd ntNo ifigoalCol, goalR--nd goaltNo ifiif non f.nnEinRny,
 goalR--,igoalCol)nubottit   rais  "goalOutOfMapRny,
"G
 x"= f.nnEv    [goalR--][goalCol]i= 0.0ge(4):
fp,n, -- inli --ator:
     t ex0p,nr--n0.0,ny,
 nu):
r--s):
     t expat0p,ncoln0.0,ny,
 nu):
cols)nubottit   = tn1.fp,n,n0.0[-1,0,1]nubottit   = tn1. ex0p,njn0.0[-1,0,1]nubottit   = tn1. ex otifns.nnEinRny,
 r--+i, cu-+j)nubottit   = tn1.n1. ex otifns.nnEgrid[r--][col]]>if.nnEthrnshholdnubottit                     f.nnEv    [r--][col] =if.nnEinft1.0yubottit                  el  nubottit   = tn1.n1.n1. ex otifns.nnEtooTted:(r--, col, i, j)nubottitttttttttttttttttttttttttd =if.nnEbigButNotInft1.0yubottittttttttttttttttttttttelif abs(i) == n andnabs(j) == 0nubottit   = tttttttttttttttttttd =in.00ubottittttttttttttttttttttttelif abs(i) == 1 andnabs(j) == 1nubottit   = tn1.tttttttttttttttd =i1.41ubottittttttttttttttttttttttel  nubottit   = tn1.n1.n1. ex ottttd =i1.00ubottittttttttttttttttttttttadj =if.nnEv    [r--+i][col+j]}+ s.nnEgrid[r--+i][col+j]}+ 
tNo ifioiy
 x"=             f.nnEv    [r--][col] =imin(f.nnEv    [r--][col],fadj)ubottitr,Dnim f.nnEgetP thlfnR--,tnCol)Gg x"o  lgetP thlf.nnnnnR--,tnCol)nubottitp th ll[[0 n1.0coln0.0,ny,
 nu):
cols)] n1.0r--n0.0,ny,
 nu):
r--s)]te(4):
r--nd nRowge(4 itcolnd nColubottitepn}d 0ubottitwh,ne non (f.nnEv    [r--][col]i== 0.n)nubottit  np th[r--][col] =i1ubottittttmin =if.nnEbigButNotInft1.0yubottittttn.0,R--nd -1ubottittttn.0,Colxd -1ubottittttfp,n,n0.0[-1,u0,t1]nubottit   = t0p,njn0.0[-1,u0,t1]nubottit   = t otifns.nnEinRny,
 r--+i, cu-+j)nubottit   = tn1.n1.ifns.nnEv    [r--+i][col+j]}",ns.nnEc *  sS,ny))tNo ifioinu):
menuButtonsc= {}tNo ifioinu):
debugi= 0ngle  Dz nu):
"""lication = 0ngle  Dz nu):
eleth = elethngle  Dz nu):
heted: efheted:ngle  Dz nu):
colScalend s.nnEeleth / nu):
colsngle  Dz nu):
f--Scalend s.nnEheted: / nu):
r--sngle  Dz nu):
"ddMenu(menu)tNo ifioinu):
fr0,n.= Tkin --.Fr0,nlf.nnnrelief=Tkin --.RAISED,bordereleth=2)tNo ifioinu):
fr0,n.pack(sid "= "top", expa:
 ef"yes", fill.= "bo)u")tNo ifioinu):
eanvas.= Tkin --.Canvas(nu):
fr0,n,eleth=s.nnEeleth,heted:=s.nnEheted:)tNo ifioinu):
eanvas.pack(sid "= "top", expa:
 ef"yes", fill.= "bo)u")tNo ifioinu):
"ddKeyBb  osis(key b  osis)tNo ifi1.sx  .protocol('WM_DELETE_WINDOW',ns.nnEdestroy)tNo ifiiis.nnEu h:
 _id0 fasks()uNo ifioinu):
eanvas.focus_seb( t
 x"= oinu):
eanvas_eleth_diff =nin (s.nnEelnfo_eleth()).- in (nu):
eanvas["eleth"])tNo ifioinu):
canvas_heted:_diff =nin (s.nnEelnfo_heted:()).- in (nu):
eanvas["heted:"])tubotto  l"ddT.0,(f.nnnnx, y,nl f)f, **args)nubottittt""" Millimeters4"""ubottit

x_ _n}d (float(x)/nu):
colScaleMM)}* nu):
colScaleubottit

y_p_n}d nu):
heted: - ((float(y)/nu):
r--ScaleMM)}* nu):
r--Scale)
No ifioiif "fill"tnon in args4tNo ifioiyr=bargs["fill"].= "b ack"uNo ifioinu):
eanvas.cn_ov  (x_ _n-1,uy_ _n-1,ux_ _n+1,uy_ _n+1,ueleth=0, **args)uNo ifioinu):
eanvas.cn_2.0,(x_ _n+2,uy_ _n, 2.0,=l f)f, a chor="w", **args)uubotto  l"ddKeyBb  osis(f.nnnnkey b  osis)nubottittt""" Bb   keys a:
 micen ny,np to the eanvas."""ubottit

0p,nkeyn0,n,t0unc in key b  osisnubottit   = tf.nnEeanvas. b  (keyn0,n,t0unc)uubotto  l"ddMenu(f.nn, menu)nubottittt""" Cn abmenu """ubottit

nu):
mBar.= Tkin --.Fr0,nlf.nnnrelief=Tkin --.RAISED,bordereleth=2)tNo ifioinu):
mBar.pack(fill=Tkin --.X)ubottit

0p,ny,nry.0.0menunubottit   = tf.nnEmBar.tk_menuBa,tsx   makeMenu(f.nnEmBar,ny,nry[0],y,nry[1]))tNo ifioinu):
mBar.pack(sid "= "top")uubotto  lmakeMenu(f.nn, bar,nn0,n,tcomma:
s)nubottittt""" A"=um sinu):
menuButtonscexists """ubottit

menu = Tkin --.Menubutton(bar,2.0,=n0,n,underl-ne=0)tNo ifioinu):
menuButtons[n0,n] =imenuG
 x"= 

menu.pack(sid =Tkin --.LEFT,padx="2m")tNo ifioimenu.f,nemenu = Tkin --.Menu(menu)tNo ifioin1.0cmdx0.0comma:
s4tNo ifioiyr=bmenu.f,nemenu
"dd_comma:
(l f)f=cmd[0],comma:
=cmd[1])tNo ifioimenu['menu'] =imenu.f,nemenutNo ifioir,Dnim menutubotto  lc *  sS,nylf.nnnn ny,n = n)nubottitiytrynubottit   = tnu):
eleth = in (s.nnEelnfo_eleth()).- nu):
eanvas_eleth_diffubottit   = tnu):
heted: efin (s.nnEelnfo_heted:()).- nu):
canvas_heted:_diffubottit  e     nubottit    xih,,('StNo ifi  #pri,n s.nnEeleth,tnu):
heted:uNo ifioinu):
eanvas.cundf _nr(eleth efs.nnEeleth,lheted: efs.nnEheted:)ge(4):
  #pri,n s.nnEeanvas["eleth"], s.nnEeanvas["heted:"]ngle  Dz nu):
colScalend s.nnEeleth / nu):
colsngle  Dz nu):
f--Scalend s.nnEheted: / nu):
r--sngle  Dz nu):
fed  w()Gubotto  lsetGrid(f.nnnngrid)nubottit  Map.setGrid(f.nnnngrid)ngle  Dz nu):
c *  sS,nyl)Gubotto  ldestroylf.nn)iG
 x"=  tnu):
elthd  w()G
 x"=  tnu):
u h:
 _id0 fasks()uNo ifioiifns.nnE"""licationnubottit    xiTkin --.Tk)destroylf.nn)Gubotto  lfed  w(f.nn)iG
 x"=  tpri,n "warn: Need )ksoverloadlfed  w() -rom TkMap :
x"="G
 x"=  tpri,n "colScale: %n, r--Scale: %n" %.(nu):
colScale, nu):
r--Scale)
ubotto  lf,neloaddialog(f.nnnnf,netype, nkel, ndir.= '')iG
 x"=  t-rom strisi -------rep aceubottit

-------pyrobstG
 x"=  t-rom _n}-------getcwd,-getenv,tchdirtNo ifioir,Dv  i= ""ubottit

cwdnd getcwd()uNo ifioiifnsndir.== ''nubottit    xichdir(pyrobst.pyrobstdir() +b"/plugins/" +bf,netype)uNo ifioiel  nubottit   = tchdir(sndir)uNo ifioidnd TKelegets.LoadFileDialog(f.nnnn"Load " +bf,netype, nkel,e(4):
 y"= y_blttitttittttttttttttttttpyrobst.pyrobstdir() +b"/plugins/" +bf,netype)uNo ifioiif d.Show() == 1nubottit   = tdoc.= d.GetFileN0,nl)tNo ifioin1.td.DialogCleanupl)tNo ifioin1.tr,Dv  i= docuNo ifioiel  nubottit   = td.DialogCleanupl)tNo ifioichdir(cwd)tNo ifioir,Dnim r,Dv  
ubotto  lloadMaplf.nn)iG
 x"=   f.= nu):
f,neloaddialog("maps","*.py")uNo ifioiif fi!=i''nubottit    xinu):
loadMapFile(n)Gubotto  lloadMapFile(f.nnnnf,ne)iG
 x"=   -------osuNo ifioiif f,ne[-3:]i!=i'.py'nubottit    xif,ne.= f,ne.+i'.py'uNo ifioiifnsyfem
f,ne_exists(f,ne)iG
 x"=       gridn=nsyfem
loadINIT(f,ne)uNo ifioielifnsyfem
f,ne_exists(os.getenv('PYROBOT') +b\e(4):
 y"= y_blttitttittttttttttt'/plugins/maps/' +bf,ne): G
 x"=       gridn=nsyfem
loadINIT(os.getenv('PYROBOT') +b\e(4):
 y"= y_blttitttitttttttttttttt'/plugins/plots/' +bf,ne)uNo ifioiel  nubottit   = trais  'Map f,ne non fou:
: ' +bf,neG
 x"=  tnu):
setGrid(grid)gg x"to  lsaveMap(f.nn)iG
 x"=  tpx"=tn:
x"= TkSimpleMap(TkMap)nubotto  lr=t1.0,elf.nnnnx_meter,uy_meter,utitle]=n"Simple Map")iG
 x"=  tTkMap)r=t1.0,elf.nnnn1nn1nnn,u   z =                 x_meter}* 50, y_meter}* 50, # pixelsge(4):
 x               x_meter}* 100n, y_meter}* 100n, # MMubottit   = tttttttttttttitle)
No io  l"ddT.0,(f.nnnnx, y,nl f)f, **args)nubottittt""" Meters4"""ubottit

TkMap)"ddT.0,(f.nnnnx}* 100n, y}* 100n, l f)f, **args)uni lr=n0,n__ def'__main__'iG
 xypri,n "Tes
osi TkMap()..."G
 x"map = TkMap(8, 10, .5,ngle  Dz = [3,n  200, 5n0,ngle  Dz = [3,n  200, 5n0,ngle  Dz = [3,n  "Sample Map")G
 x"map.disp ay()G
 x"map.reset()G
 x"map.disp ay()G
 x"pri,n "Set
osi Gridll
cation..."G
 x"mapEsetGridL
cation(400, 900, 1.0, "A")G
 x"map.v  ih:
 Grid()G
 x"pri,n "Set
osi Gridltomnew.s,ny..."G
 x"mapEsetGrid( [[0,u0,t0],ngle  Dz = [3,n    [0,u1,t0],ngle  Dz = [3,n    [0,u0,t0],ngle  Dz = [3,n    [1,u0,t0]] )G
 x"map.v  ih:
 Grid()G
 x"map.disp ay()G
 x"pri,n "Alltd= (!"G
 x"mapE"""lication = 1tNo in1.0xn0.0,ny,
 0,l200, 10)nubottitttmap)"ddT.0,(nx, x*5/float(2), "%d" %.x)G
 x"map.mainloop()tG
 x"map = TkSimpleMap(2, 5, "Tes
osi Map")G
 x"n1.0xn0.0,ny,
 0,l2000, 100)nubottitttmap)"ddT.0,(nx/100n.0, (x/100n.0)*5/float(2), "%d" %.x)G
 x"map.mainloop()t
 x"tpyrobst/plugins/0040755000076400003100000000000010270502706013717 5u  dblankfacypyrobst/plugins/brains/0040755000076400003100000000000010745440007015177 5u  dblankfacypyrobst/plugins/brains/Lear1.si/0040755000076400003100000000000010270502706016734 5u  dblankfacypyrobst/plugins/brains/Lear1.si/avoid.py0100755000076400003100000000257610263033112020412 0u  dblankfacy#
robst goes"n1.ward.andnthenxsl--s.sksa(stop whenxi a1etects)somethosift
 
-rom pyrobst.brain -------Brain 
-------,nydomge(n:
x"= NNBrain(Brain): G
 x"=     G
 x#tGive the -ro,n twksfensp,s,ldecid "axT.n.xt mov )G
 xo  ldetermineMov lf.nnnnensp,s): G
 x"= i lf.nsp,s[2]x< n.5 p,nsensp,s[3]x< n.5:
 x#taboun to h,t soon, STOP G
 x"=    pri,n "collisionx0mminenn, ftopped" G
 x"=    reDnim(0 ige(4):
elifns.nsp,s[2]x< n.8 p,nsensp,s[3]x< n.8:  #)uetect.si"fomethosi, SLOWDOWN G
 x"=    pri,n "object)uetected" G
 x"=    reDnim(0.1 ige(4):
el  n G
 x"=    pri,n "clear""=    # allxclear, FORWARD G
 x"=    reDnim(0.3)tnxS o  ldetermineTnim(f.nnnnensp,s): G
 x"= #ir,Dnim a v    xbetweenx-1 andn1mbasCd oSuensp,snubottit# lef-:G
 x"= i lf.nsp,s[0]x< n.5 p,nsensp,s[1]x< n.5:G
 x"=    reDnimx-1.0 otDnim rted:uNo ifi# rted::G
 x"= i lf.nsp,s[4]x< n.5 p,nsensp,s[5]x< n.5:G
 x"=    reDnimx1.0 otDnim lef-uNo ifi# -ro,n:G
 x"= i lf.nsp,s[2]x< n.5 p,nsensp,s[3]x< n.5:G
 x"=    reDnimx,nydom.,nydom()}* 2.0.- 1.0ge(4):
#
el  )un'tl,('StNo ifireDnimx0.0ge(4):nxS o  lfep(f.nn)iige(4):
hobst.= f.nnEgetRobstl)tNo ifisensp,s = [x.v    x0p,nxn0.0,-bst.ray,
['all']]ngle  Dtrayslan =ns.nnEdetermineMov lf.nsp,s)ige(4):
hotan =ns.nnEdetermineTnim(f.nsp,s)ige(4):
pri,n "-ro,n f.nsp,s",lf.nsp,s[2],nsensp,s[3]xge(4):
hobst.mov (trayslan,
hotan) G
 x"=   
o  lINIT(hobst)iige(4reDnimxNNBrain('NNBrain'nnftbon)"tpyrobst/plugins/brains/Lear1.si/collect.py0100755000076400003100000000515410263033112020730 0u  dblankfacy-rom pyrobst.brain -------Brain 
0rom aime -------*
-------,nydomge(n######################################################
o  lsaveListToFile(ls,mf,ne): G
 xfp,n,n0.0,ny,
 ,,dtls))iige(4):
f,ne.writ
 ntrtls[i]) +b" ") G
 xf,ne.writ
 "\n") G######################################################
e(n:
x"= CollectDataBrain(Brain): G
 xG
 x######################################################
e(to  lsetup(f.nn)iige(4):
nu):
coun --4= n ge(4):
nu):
coun ftopp.si"= n ge(4):
nu):
dataf,ne1.= op,dt"sensp,s
dat", "w") ge(4):
nu):
dataf,ne2.= op,dt"tar00ts
dat", "w") ge(4):
nu):
maxv     =ns.nnE,-bst.ray,
.getMaxv    ()ge(4):
pri,n "maxnsensp,.v    xis ",ns.nnEmaxv     G
 x######################################################
eG
 xo  ldetermineMov lf.nnnnensp,s): G
 x"= i lf.nsp,s[2]x< n.5 p,nsensp,s[3]x< n.5:
G
 x"=    pri,n "collisionx0mminant" G
 x"=    nu):
coun ftopp.si"= nu):
coun ftopp.si+1 G
 x"=    reDnim(0 ige(4):
elifns.nsp,s[2]x< n.8 p,nsensp,s[3]x< n.8: G
 x"=    pri,n "object)uetected" G
 x"=    reDnim(0.1 ige(4):
el  n G
 x"=    pri,n "clear""G
 x"=    reDnim(0.3) tnxS o  ldetermineTnim(f.nnnnensp,s): G
 x"= #ir,Dnim a v    xbetweenx-1 andn1mbasCd oSuensp,snubottit# lef-:G
 x"= i lf.nsp,s[0]x< n.5 p,nsensp,s[1]x< n.5:G
 x"=    reDnimx-1.0 otDnim rted:uNo ifi# rted::G
 x"= i lf.nsp,s[4]x< n.5 p,nsensp,s[5]x< n.5:G
 x"=    reDnimx1.0 otDnim lef-uNo ifi# -ro,n:G
 x"= i lf.nsp,s[2]x< n.5 p,nsensp,s[3]x< n.5:G
 x"=    reDnimx,nydom.,nydom()}* 2.0.- 1.0ge(4):
#
el  )un'tl,('StNo ifireDnimx0.0gG
 x######################################################
e(to  lscale(f.nnnnv  )iige(4):
h,Dnim min(max(v  i/ns.nnEmaxv    nn0.0 ,1.0 ge(4######################################################
nxS o  lfep(f.nn)iige(4):
hobst.= f.nnEgetRobstl)tNo ifisensp,s = [x.v    x0p,nxn0.0,-bst.ray,
['all']]ngle  Dtrayslan =ns.nnEdetermineMov lf.nsp,s)ige(4):
hotan =ns.nnEdetermineTnim(f.nsp,s)ige(4):
pri,n "-ro,n f.nsp,s",lf.nsp,s[2],nsensp,s[3]xge(4):
ifns.nnEcoun --4> 100n: G
 x"=    nu):
dataf,ne1.clos () G
 x"=    nu):
dataf,ne2.clos () G
 x"=    pri,n "d= ( collect.si"data""G
 x"=    robst.stopl)tNo ifioinnu):
quinl)tNo ifielifns.):
coun ftopp.si"> 5:
G
 x"=    hobst.mov (-0.3nn0.2) G
 x"=    nleep(0.5)}G
 x"=    nu):
coun ftopp.si"= 0ige(4):
el  n G
 x"=    pri,n "mov ",ns.nnEcoun --, trayslan,
hotanG
 x"=    naveListToFile("maplf.nnEscale, nunsp,s), nu):
dataf,ne1)}G
 x"=    naveListToFile(mapl lambda x: (x}+ 1)/2.0, [trayslan,
hotan]),ngle  Dz = [3,nnnnnnnnnnnnu):
dataf,ne2)
G
 x"=    hobst.mov (trayslan,
hotan)G
 x"=    nu):
coun --4+=i1 G
 x"=   
o  lINIT(hobst)iige(4reDnimxCollectDataBrain('CollectDataBrain'nnftbon)"tpyrobst/plugins/brains/Lear1.si/deploy.py0100755000076400003100000000217210263033112020574 0u  dblankfacy# Load 0.0naved weted:st-rom _ffl-nectrainosift# Inputsixr "axT.twks-ro,n f.nsp,4rea osiscft# Outputc0seaDtrayslan v    nnused )ksco,nroluaxT.r-bst  G
 xG-rom pyrobst.brain -------Brain xG-rom pyrobst.brain.cunx -------*  
0rom aime -------*iiubottin:
x"= NNBrain(Brain): :nxS o  lfetup(f.nn)ii ge(4):
nu):
n = Network()  ge(4):
nu):
n)"ddThreeLayers(8,1,2)  ge(4):
nu):
maxv     =ns.nnE,-bst.ray,
.getMaxv    ()ge(4):
nu):
d= (Lear1.si = 1  ge(4):
nu):
n)loadWeted:sFromFile("E05M01.wts")  ge(4):
nu):
n)fetLear1.si(0 i 
eG
 xo  lscale(f.nnnnv  )iiige(4):
h,Dnim min(max(v  i/ns.nnEmaxv    nn0.0 ,1.0  
eG
 xo  lsep(f.nn)iiige(4):
hobst.= f.nnEgetRobstl)iige(4):
# S.,n,nputsi ge(4):
nunsp,s = [x.v    x0p,nxn0.0,-bst.ray,
["all"]]ge(4):
nu):
n)getLayer(',nput').cupyAct.vations("maplf.nnEscale, nunsp,s) ) ge(4):
nu):
n)propaganl)iige(4):
trayslanActu  i= nu):
n)getLayer('output').act.vation[0]x* 2.- 1.0ge(4):
hotanActu  i= nu):
n)getLayer('output').act.vation[1]xx* 2.- 1.0ge(4):
pri,n "mov ",ntrayslanActu  ,
hotanActu  ige(4):
hobst.mov (trayslanActu  ,
hotanActu  )iige(4
o  lINIT(hobst)iiige(4reDnimxNNBrain('NNBrain'nnftbon)""tpyrobst/plugins/brains/Lear1.si/train.py0100755000076400003100000000200610260524106020416 0u  dblankfacy# Train a network _ffl-net# Inputs: 7 f.nsp,4rea osisct# Outputs: trayslan andnhotan v    s (unscaled) G
 xG-rom pyrobst.brain.cunx -------* G-rom pyrobst.syfem
log -------* Gottin# Cn axT.n.twork 
n = Network() 
n)"ddThreeLayers(8,1,2) #.s,nyxpfu,nputnnxidden, output
# S.,nlear1.si"par0,nters4
n)fetEpsilon(0.5)}Gn)fetMomentum(0.0 ign)fetTolera c)(0.05)}G# s.,n,nputsiandntar00ts (-rom collected data s., ign)loadInputsFromFile('sensp,s
dat')gn)loadTar00tsFromFile('tar00ts
dat')g# Loggosiftlog = Log(n0,n.= 'E05M01.txt')t#
0p, epsilon n.5 momentum n.1
best = 0igfp,n,n0.0x,ny,
 0,100n,1)iige(4tssErro-, totalCorax11, totalCou,n = n)fweep() iige(4corax11percy,n = (totalCorax11*0.1 i/ (totalCou,n*0.1 ige(4log.writ
ln( "Epocht#
"+ str(i)+b" TSS ERROR:
"+ str(tssErro-)+ngle  Dz = [3,nnn" Corax11:
"+ str(totalCorax11)+b" Total Cou,n:
"+ngle  Dz = [3,nnnstr(totalCou:t)+b" %corax11]=n"+ str(corax11percy,n) ige(4if best <4corax11percy,nn G
 x"= nEsaveWeted:sToFile("E05M01.wts") G
 x"= best = corax11percy,n 
pri,n "d= ("tpyrobst/plugins/brains/Lear1.si/r=t1.0,e.py0100644000076400003100000000000010266724746021047 0u  dblankfacypyrobst/plugins/brains/Avoid.py0100755000076400003100000000220210426372772016620 0u  dblankfacy#
robst goes"n1.ward.andnthenxsl--s.sksa(stop whenxi a1etects)somethosif G
 xG-rom pyrobst.brain -------Brain xGttin:
x"= Avoid(Brain): :nxS         ge(4#tGive the -ro,n twksfensp,s,ldecid "axT.n.xt mov )eG
 xo  ldetermineMov lf.nnnn-ro,n, lef-, rted:): :nxS    if fro,n < n.5:
 xnxS       #pri,n "obcl  ahea nnxard.Dnim" xnxS       reDnim(0, .3) ige(4):
elifnlef-c< n.8:nxS       #pri,n "object)uetected oSulef-, sl--.Dnim"G
 x"=    reDnim(0.1, -.3) ige(4):
elifnrted: < n.8: G
 x"=    #pri,n "object)uetected oSurted:, sl--.Dnim" G
 x"=    reDnim(0.1, .3) ige(4):
el  n  G
 x"=    #pri,n "clear""=G
 x"=    reDnim(0.5, 0.0) G
 x"= G
 xo  lsep(f.nn)iiige(4):
fro,n =imin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["-ro,n"]])tNo ifilef-c=imin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["lef---ro,n"]])tNo ifirted: efmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["rted:--ro,n"]])tNo ifitrayslaion, hotan =ns.nnEdetermineMov l-ro,n, lef-, rted:)  ge(4):
nu):
hobst.mov (trayslaion, hotan)

o  lINIT(engine)iiige(4x"=e---(engineE,-bst.requires("ray,
-fensp,") a:
tNo ifioiy
 engineE,-bst.requires("co,ninuous-mov ment"))tNo reDnimxAvoid('Avoid', engine)  gtpyrobst/plugins/brains/BBCapDnie.py0100755000076400003100000000737110263033112017356 0u  dblankfacy# A Behavior-basCd syfem
G-rom pyrobst.brain.fuzzy -------*
-rom pyrobst.brain.behaviors -------*
-rom pyrobst.brain.behaviors.core -------*ii# Stop

-------math
-rom ,nydom -------,nydomg-------aime
n:
x"= Avoid (Behavior)nubotto  lfetup(f.nn)ii# called whenxcn
tNo ifioinu):
Effects('trayslan', .1)}G
 x"=   nu):
Effects('hotan', .1)G
 x"=   nu):

x"taime =-aime.mkaime(aime.l
calaime())tNo ifioinu):
cou,n = 0Gubotto  ldiax11ion(f.nnnnv  ue)iG
 x"=   -f.v    x< 0nubottit   = treDnimx-1ubottit  el  nubottit   = treDnimx1Gubotto  lu h:
 (f.nn)iG
 x"=  tFTOLERANCE = 1.0ge(4):
  LTOLERANCE = 1.0ge(4):
  RTOLERANCE = 1.0ge(4):
  ge(4):
  # Normally iG
 x"=  t#nu):
IF(1, 'trayslan', .2)
G
 x"=   #nu):
IF(1, 'hotan', 0)tNo ifioitNo ifioilef-c=imin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["lef-"]])tNo ifi:
fro,n =imin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["-ro,n"]])tNo ififirted: efmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["rted:"]])tNo ififiG
 x"=   -f.(lef-c< LTOLERANCE andnhted: < RTOLERANCE)iG
 x"=       #nu):
mov (0, .2)G
 x"=       nu):
IF(1, 'hotan', .2)G
 x"=       nu):
IF(1, 'trayslan', 0)G
 x"=       #nleep(.5)uNo ifioielifn(lef-c< LTOLERANCE)iG
 x"=       #nu):
mov (0, -.2)G
 x"=       nu):
IF(1, 'hotan', -.2)G
 x"=       nu):
IF(1, 'trayslan', 0)G
 x"=   elifn(hted: < RTOLERANCE)iG
 x"=       #nu):
mov (0, .2)G
 x"=       nu):
IF(1, 'hotan', .2)G
 x"=       nu):
IF(1, 'trayslan', 0)G
 x"=   elifn(fro,n < FTOLERANCE)iG
 x"=       ifnrnydom()}< .5:G
 x"=           #nu):
mov (0, .2)G
 x"=           nu):
IF(1, 'hotan', .2)G
 x"=           nu):
IF(1, 'trayslan', 0)G
 x"=   =   el  nubottit   = tn1.n#nu):
mov (0, .2)G
 x"=           nu):
IF(1, 'hotan', .2)G
 x"=           nu):
IF(1, 'trayslan', 0)G
 x"=   el  nubottit   = t#nu):
mov (.2, 0)G
 x"=   =   nu):
IF(1, 'trayslan', .2)G
 x"=       nu):
IF(1, 'hotan', 0)Gn:
x"= stan1 (Stan)nubotto  lfetup(f.nn)itNo ifioinu):
add(Avoid(1))tNo ifioipri,n "initializCd stan",ns.nnEn0,nGubotto  lonAct.vat (f.nn)iG
 x"=  tnu):
cou,n = 0Gubotto  lu h:
 (f.nn)iG
 x"=  tpri,n "Stan 1"G
 x"=   ifns.):
coun  == 0nubottit   = tf.nnEgoto("stan2")G
 x"=   el  nubottit   = ts.):
coun  +=i1un:
x"= stan2 (Stan)nubotto  lfetup(f.nn)itNo ifioinu):
add(StopBehavior(1))tNo ifioipri,n "initializCd stan",ns.nnEn0,nGubotto  lu h:
 (f.nn)iG
 x"=  tpri,n "Stan 2"ubottit

nu):
goto("stan3")Gn:
x"= stan3 (Stan)nubotto  lfetup(f.nn)itNo ifioipri,n "initializCd stan",ns.nnEn0,nG
 x"=  tnu):
cou,n = 0Gubotto  lonAct.vat (f.nn)iG
 x"=  tnu):
cou,n +=i1unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "Stan 3"ubottit

nu):
engineEc0,nra.snap("som4/snap-%d.pgm" %.fu):
cou,n)i# cannn0,n the -,ne hted: hereubottit  #0nave IR, motorsge(4):
 xfp.= op,dt"som4/snap-%d.dat" %.fu):
cou,n, "w")ge(4):
 xfp.writ
 "trayslan=%f\n" %.fu):
engineEhistory[2]['trayslan'])ge(4):
 xfp.writ
 "hotan=%f\nspeed=" %.fu):
engineEhistory[2]['hotan'])ge(4):
 xfp,ns 0.0n.nnEengineEhistory[2]['speed']nubottit   = t0p.writ
 "%d " %.f)ge(4):
 xfp.writ
 "\nir=")ge(4):
 xfp,ns 0.0n.nnEengineEhistory[2]['ir']nubottit   = t0p.writ
 "%d " %.f)ge(4):
 xfp.writ
 "\n")ge(4):
 xfp.clos ()ubottit

nu):
goto("stan1")

o  lINIT(engine)ii#tpx"=es 0.0engine,)nf     need i-uNo ix"=e---(engineE,-bst.requires("ray,
-fensp,") a:
tNo ifioiy
  engineE,-bst.requires("co,ninuous-mov ment"))tNo  brain = BehaviorBasCdBrain({'trayslan' : engineE,-bst.trayslan,
\e(4):
 y"= y_blttitttittttttttttt'hotan' : engineE,-bst.hotan,
\e(4):
 y"= y_blttitttittttttttttt'u h:
 ' : engineE,-bst.u h:
  }, engine)e(4):#l"dd a few.stansnubottbrain.add(stan1()).# non act.veubottbrain.add(stan2()).# non act.veubottbrain.add(stan3()).# non act.veue(4):#l"ct.vat sa(stat nubottbrain.act.vat ('stan1')t#
could have made it act.vex0.0constructor
ubottbrain.snServic)f"c0,nra")uubottreDnimxbraingtpyrobst/plugins/brains/RLBrain.py0100644000076400003100000001253110272204727017043 0u  dblankfacy-rom pyrobst.brain -------Brain
0rom aime -------nleep
-rom ,nydom -------*
-rom pyrobst.brain.td -------*
n:
x"= SimpleBrain(Brain):uubot,nydom_percy,n = 20tNo res.,n= 0Gubot#ir,lnforcyment v    x0p,nte----al differencingubotREINFORCEMENT_VALUE = .2ubotubot#iju calls -,nd_successp,G
 xo  l-,nd_p th(
nu): )iG
 x"= loc.= n.nnE,-bst.ask('l
cation')gG





#lmake sure we goteaDtupneG
 x"= nf type(l
c)i!=itype( ()})nubottit   reDnimx"";ubottit   ubottitdiax11ion.= nu):
f,nd_successp,(l
c)
tit   reDnimxdiax11ionGubot#if,nds"axT.n.xt sep,xby ,nydom, utility-basCd, p,ndiax11 mov sG
 xo  l-,nd_successp,( f.nnnnloc.)nubottitv  ih_stan =n0gG





mov s.= f.nnEget_v  ih_mov s(nloc.)
tit   ubottitif non mov snubottit  np th.= n.nnE,-bst.ask('p th')G
 x"=    cx, cy.= locuNo ifioi px, py.= p th[,,dtp th).- 2]
uNo ifioi if px==cxiG
 x"=       ifnpy.< cynubottit   = tn1.reDnimx"up"ubottit   = tel  nubottit   = tn1.reDnimx"dowm"G
 x"=    el  nubottit   = tif px.< cxnubottit   = tn1.reDnimx"lef-"ubottit   = tel  nubottit   = tn1.reDnimx"rted:"
   = tel  nubottit   mov _typend rnyd,ny,
 0,l100, 1)uNo ifioi if mov _typen< n.nnE,nydom_percy,n:  #)c * c)epfu,nydom mov mentubottit   = treDnimxmov s[ rnyd,ny,
 0,,,dtmov s)).]G
 x"=    el  nubottit   = tr,Dnim f.nnEutil_successp,( loc,
mov s.)
tit   ubottitubot#ir,Dnims"axT.n.xt l
cation,mbasCd oSuutility v    sG
 xo  lutil_successp,( f.nnnnloc, v  ih_mov s ):uubotbot#ibest mov )will.bn the mov )with.the htedest utility v    ubotbotbest_mov ]=n"n= ("tbotbotzero_cou,n = 0Gtit   max_utilxd -999uubotbot0p,nmx0.0v  ih_mov s:nxS       # get axT.ftanG
 x"=    new_stan =nf.nnEv  ih_mov ( mnnloc.)
nxS       # if we get a v  id stan,tchecklsksfee)nf ,ts txT.best = ( yetuNo ifioi if new_stan != 0nubottit   = tutilxd f.nnEget_util( new_stan )ubottit   = tif utilxd= 0.nnubottit   = tn1.zero_cou,n +=i1unbottit   = tif utilx> max_utilnubottit   = tn1.max_utilxd utilubottit   = tn1.best_mov ]=nmgG





#lmake sure we are:'tlallxzeroubottitif max_utilxd= n andnzero_cou,n == l,dtv  ih_mov s)nubottit   reDnimxv  ih_mov s[ rnyd,ny,
 0,,,dtv  ih_mov s)).]                     G





#lmake the mov 
   = telif best_mov ]!=n"n= ("nubottit   reDnimxbest_mov 
   = tel  nubottit   # should NEVER get here,mbutiju 0.0casC!uNo ifioi pri,n "NO GOOD SUCCESSOR FOUND"G
 x"=    reDnimxv  ih_mov s[ rnyd,ny,
 0,,,dtv  ih_mov s)).]            

Gg x"o  lget_v  ih_mov s(nf.nnnnloc.)nubottitv  ihc= []ubottitstans = ("up",x"dowm",x"lef-",x"rted:") tnxS   xfp,ns 0.0ntansnubottottitif f.nnEv  ih_mov ( snnloc.)nubottitbottitv  ih."""e:
( s.)
nxS    reDnimxv  ih
Gg x"#checks.sksmake sure tmagna mov )isxv  ih
 x"o  lv  ih_mov  (nf.nnnnmov nnloc.)nubottit(l
cXnnlocY).= locuNo ifivisi -d = n.nnE,-bst.ask('visi -d')
tit   ubottitif mov ]==x"up":G
 x"=    new_stan =n(l
cX  nnlocY.- 1)tNo ifielifnmov ]==x"rted:":G
 x"=    new_stan =n(l
cX+1,ulocY)tNo ifielifnmov ]==x"dowm":G
 x"=    new_stan  =n(l
cX  nnlocY.+ 1)tNo ifielifnmov ]==x"lef-":G
 x"=    new_stan =n(l
cX-1,ulocY)tG





#lnf txT.n.w.stanx0seonsksan obcl ,ireDnimx0ubottitif new_stan 0.0n.nnEobcl snubottit   reDnimx0G





#lnf txT.n.w.stanx0seoffuthenmap,0,eDnimx0G





elifnmin(new_stan)}< 0 p,nmax(new_stan)}> 14nubottit   reDnimx0G





elifnnew_stan 0.0visi -dnubottit   reDnimx0G





el  nubottit   reDnimxnew_stanubottitubot#ir,Dnims"axT.utility v    xfp,na given l
cationg x"o  lget_util( f.nnnnloc.)nubottit#utils = n.nnE,-bst.ask('util')
tit   (l
cXnlocY).= locuubottitif l
cX < 0 p,nl
cX > 14 p,nl
cY < 0 p,nl
cY}> 14nubottit   reDnimx-99G





el  nubottit   reDnimxn.nnEtdEget_utility(l
cXnnlocY)
ottitubot#i00ts called before fir rung x"o  lfetup(f.nn, **args)nubottit# s.,nr,lnforcyment v    ubottitalpha = n.nnEREINFORCEMENT_VALUEubottit# get ad 0.sta c)ubottits.nnEtd = Te----al_Differenc ( 15, 15, n.nnE,-bst.ask('goal'), n.nnE,-bst.ask('p,ts'), alpha )tG





n.nnEobcl s = n.nnE,-bst.ask("obcl s")tG





#lnnitializC txT.numberxpfu,terations.skszeroubottitnu):
cou,n = 0Gubot# runeoncen nyry.0terationg x"o  lfep(f.nn)iubottitif n.nnE,es.,n== 1nubottit   n.nnE,-bst.tell(",es.,")ge(4):
 x n.nnE,-bst.tell("sn")ge(4):
 x n.nnEfetup()ge(4):
 x n.nnE,es.,n= 0Gubot 

#lnf txT.goal has non beenxreached, co,ninue.sksfindmatp thubottitif n.nnE,-bst.ask('complete') == 0nubottit   diax11ion.= nu):
f,nd_p th()ge(4):
 x n.nnE,-bst.mov ( diax11ion.)tG





#lnf txT.goal has beenxreached, disp ay the eurrent p thubottitel  nubottit   p th.= n.nnE,-bst.ask('p th')G
 x"=    nu):
cou,n +=i1unbottottit# showuthenp thubottit itpri,n "PATH: ",np thunbottottit# adju axT.utility v    seofuthenmapubottit itpri,n "Compu
osi TDs: #",ns.nnEcoun ,x" l,dgth: ",n,,dtp th)G
 x"=    nu):
tdEdo_t
( p th.)
nxS       # sn a new rung x"):
 x n.nnE,-bst.tell('sn')G
 x"=    0p, e 0.0p thnubottit   = t#sfends"axT.robst a 0p,mattCd strisi -nclu osi"axT.x,y coor osans, andna colorubottit   = tn.nnE,-bst.tell(xn.nnEtdEget_utility_color(e[0], e[1]));
nxS       alpha = n.nnEtdEget_alpha()uNo ifioi if(.(nu):
cou,n % 15)xd= n andnalpha > n )nubottittttttttn.nnEtdEset_alpha(nalpha - 0.n1 )ubottit   = t n.nnE,nydom_percy,n -= 5

# -------------------------------------------------------
# Th0seis"axT.in --fac xfp,ncallosi"0rom axT.gui engineE
# Takes = ( par0, (a.0engine), andnr,Dnims"a-Brain object:
# -------------------------------------------------------

o  lINIT(engine)iubotreDnimxSimpleBrain('SimpleBrain', engine)tpyrobst/plugins/brains/BBOffice.py0100755000076400003100000001474310263033112017147 0u  dblankfacy# A Really bad example ofuGosksOffice
# Thou shallxnon emuln axi= styly... it is non react.ve!
# You should make yoursmbasCd oSuwalls, do1.ways, etcE
# -dsb
G-rom pyrobst.brain.fuzzy -------*
-rom pyrobst.brain.behaviors -------*
-rom pyrobst.brain.behaviors.core -------*ii# Stop
-rom pyrobst.geometry -------dista c)

-------math
-rom ,nydom -------,nydomg-------aime
n# A Map to the office:
n#           Fn#           |n#           |n#           E----------------------------------Dn#                                              |n#                                              |n#                                              |n#                                              |n#                                              |n#                                              |n#                                              |n#                                              |n#                                              |n#                                              |n#                       B----------------------Cn#                       |n# Sn ----------------A
#
n:
x"= Straied: (Behavior)nubotto  lfetup(f.nn)iiubottit  nu):
Effects('trayslan', .1)}G
 x"=   nu):
Effects('hotan', .1) unbotto  lu h:
 (f.nn)iG
 x"=  tnu):
IF(1, 'trayslan', .2)
G
 x"=   nu):
IF(1, 'hotan', 0) tn:
x"= TnimLef-c(Behavior)nubotto  lfetup(f.nn)iubottit  nu):
Effects('trayslan', .2)
G
 x"=   nu):
Effects('hotan', .1)Gnbotto  lu h:
 (f.nn)iG
 x"=  tnu):
IF(1, 'hotan', .1)G
 x"=   nu):
IF(1, 'trayslan', 0) tn:
x"= TnimRied: (Behavior)nubotto  lfetup(f.nn)iubottit  nu):
Effects('trayslan', .2)
G
 x"=   nu):
Effects('hotan', .1)Gnbotto  lu h:
 (f.nn)iG
 x"=  tnu):
IF(1, 'hotan', -.1)G
 x"=   nu):
IF(1, 'trayslan', 0) tn:
x"= Sn (Stan)nubott#.go straied: fp,n8 ,ntersubotto  lfetup(f.nn)iubottit  nu):
add(Straied:(1))tubotto  lonAct.vat (f.nn)i
#lmethod called whenxact.vat d p,ngoton
tNo ifioinu):
snX.= n.nnE,-bst.xtNo ifioinu):
snY.= n.nnE,-bst.ytNo ifioinbotto  lu h:
 (f.nn)iG
 x"=  tx.= n.nnE,-bst.xtNo ifioiy.= n.nnE,-bst.ytNo ifioidisti= dista c)(inu):
snX,inu):
snYnnx, y)iG
 x"=   -f.disti> 8.nnubottit   = tnu):
goto('A1')Gn:
x"= A1 (Stan)nubott#.Dnim lef- 90to greesubotto  lfetup(f.nn)iubottit  nu):
cou,n = 0Gtit     nu):
add(TnimLef-(1))tubotto  lonAct.vat (f.nn)iGtit     nu):
th.= n.nnE,-bst.thunbotto  lu h:
 (f.nn)iG
 x"=  tth.= n.nnE,-bst.thu
 x"=   -f.angleAdd(th,l- nu):
th)}> 90: G
 x"=       nu):
goto('A2')Gn:
x"= A2 (Stan)nubott#.go straied: fp,n1.5 mntersubotto  lfetup(f.nn)iubottit  nu):
add(Straied:(1))tubotto  lonAct.vat (f.nn)i
#lmethod called whenxact.vat d p,ngoton
tNo ifioinu):
snX.= n.nnE,-bst.xtNo ifioinu):
snY.= n.nnE,-bst.ytNo ifioinbotto  lu h:
 (f.nn)iG
 x"=  tx.= n.nnE,-bst.xtNo ifioiy.= n.nnE,-bst.ytNo ifioidisti= dista c)(inu):
snX,inu):
snYnnx, y)iG
 x"=   -f.disti> 1.5:G
 x"=       nu):
goto('B1')Gn:
x"= B1 (Stan)nubott#.Dnim hted: 90to greesubotto  lfetup(f.nn)iubottit  nu):
cou,n = 0Gtit     nu):
add(TnimRied:(1))tubotto  lonAct.vat (f.nn)iGtit     nu):
th.= n.nnE,-bst.thunbotto  lu h:
 (f.nn)iG
 x"=  tth.= n.nnE,-bst.thu
 x"=   -f.angleEqual(angleAdd(th,l-nu):
th), 270):G
 x"=       nu):
goto('B2')ubottit   = tn:
x"= B2 (Stan)nubott#.go straied: fp,n6.5 mntersubotto  lfetup(f.nn)iubottit  nu):
add(Straied:(1))tubotto  lonAct.vat (f.nn)i
#lmethod called whenxact.vat d p,ngoton
tNo ifioinu):
snX.= n.nnE,-bst.xtNo ifioinu):
snY.= n.nnE,-bst.ytNo ifioinbotto  lu h:
 (f.nn)iG
 x"=  tx.= n.nnE,-bst.xtNo ifioiy.= n.nnE,-bst.ytNo ifioidisti= dista c)(inu):
snX,inu):
snYnnx, y)iG
 x"=   -f.disti> 6.5:G
 x"=       nu):
goto('C1')Gn:
x"= C1 (Stan)nubott#.Dnim lef- 90to greesubotto  lfetup(f.nn)iubottit  nu):
cou,n = 0Gtit     nu):
add(TnimLef-(1))tubotto  lonAct.vat (f.nn)iGtit     nu):
th.= n.nnE,-bst.thunbotto  lu h:
 (f.nn)iG
 x"=  tth.= n.nnE,-bst.thu
 x"=   -f.angleAdd(th,l- nu):
th)}> 90: G
 x"=       nu):
goto('C2')Gn:
x"= C2 (Stan)nubott#.go straied: fp,n8 ,ntersubotto  lfetup(f.nn)iubottit  nu):
add(Straied:(1))tubotto  lonAct.vat (f.nn)i
#lmethod called whenxact.vat d p,ngoton
tNo ifioinu):
snX.= n.nnE,-bst.xtNo ifioinu):
snY.= n.nnE,-bst.ytNo ifioinbotto  lu h:
 (f.nn)iG
 x"=  tx.= n.nnE,-bst.xtNo ifioiy.= n.nnE,-bst.ytNo ifioidisti= dista c)(inu):
snX,inu):
snYnnx, y)iG
 x"=   -f.disti> 8.nnubottit   = tnu):
goto('D1')Gn:
x"= D1 (Stan)nubott#.Dnim lef- 90to greesubotto  lfetup(f.nn)iubottit  nu):
cou,n = 0Gtit     nu):
add(TnimLef-(1))tubotto  lonAct.vat (f.nn)iGtit     nu):
th.= n.nnE,-bst.thunbotto  lu h:
 (f.nn)iG
 x"=  tth.= n.nnE,-bst.thu
 x"=   -f.angleAdd(th,l- nu):
th)}> 90: G
 x"=       nu):
goto('D2')ubottit   = tn:
x"= D2 (Stan)nubott#.go straied: fp,n12 ,ntersubotto  lfetup(f.nn)iubottit  nu):
add(Straied:(1))tubotto  lonAct.vat (f.nn)i
#lmethod called whenxact.vat d p,ngoton
tNo ifioinu):
snX.= n.nnE,-bst.xtNo ifioinu):
snY.= n.nnE,-bst.ytNo ifioinbotto  lu h:
 (f.nn)iG
 x"=  tx.= n.nnE,-bst.xtNo ifioiy.= n.nnE,-bst.ytNo ifioidisti= dista c)(inu):
snX,inu):
snYnnx, y)iG
 x"=   -f.disti> 12.nnubottit   = tnu):
goto('E1')Gn:
x"= E1 (Stan)nubott#.Dnim hted: 90to greesubotto  lfetup(f.nn)iubottit  nu):
cou,n = 0Gtit     nu):
add(TnimRied:(1))tubotto  lonAct.vat (f.nn)iGtit     nu):
th.= n.nnE,-bst.thunbotto  lu h:
 (f.nn)iG
 x"=  tth.= n.nnE,-bst.thu
 x"=   -f.angleAdd(nu):
th,l-th)}< 270: G
 x"=       nu):
goto('E2')ubottit   = tn:
x"= E2 (Stan)nubott#.go straied: fp,n2 ,ntersubotto  lfetup(f.nn)iubottit  nu):
add(Straied:(1))tubotto  lonAct.vat (f.nn)i
#lmethod called whenxact.vat d p,ngoton
tNo ifioinu):
snX.= n.nnE,-bst.xtNo ifioinu):
snY.= n.nnE,-bst.ytNo ifioinbotto  lu h:
 (f.nn)iG
 x"=  tx.= n.nnE,-bst.xtNo ifioiy.= n.nnE,-bst.ytNo ifioidisti= dista c)(inu):
snX,inu):
snYnnx, y)iG
 x"=   -f.disti> 2.nnubottit   = tnu):
goto('Done')Gn:
x"= Done(Stan)nubotto  lu h:
 (f.nn)iG
 x"=  tnu):
mov (0,0)

o  lINIT(engine)ii#tpx"=es 0.0,-bst,)nf     need i-uNo ibrain = BehaviorBasCdBrain({'trayslan' : engineE,-bst.trayslan,
\e(4):
 y"= y_blttitttittttttttttt'hotan' : engineE,-bst.hotan,
\e(4):
 y"= y_blttitttittttttttttt'u h:
 ' : engineE,-bst.u h:
  }, engine)e(4):#l"dd a few.stansnubottbrain.add(Sn(1)):#l"ct.veubottbrain.add(A1()).# non act.veubottbrain.add(A2()).# non act.veubottbrain.add(B1()).# non act.veubottbrain.add(B2()).# non act.veubottbrain.add(C1()).# non act.veubottbrain.add(C2()).# non act.veubottbrain.add(D1()).# non act.veubottbrain.add(D2()).# non act.veubottbrain.add(E1()).# non act.veubottbrain.add(E2(1)):#l"ct.veubottbrain.add(Done()).# non act.veubottreDnimxbraingpyrobst/plugins/brains/BBSquaie.py0100755000076400003100000000573610263033112017216 0u  dblankfacy# A Behaviortnuquencing sample
# D.S. Blank

# Th0sePyrobst example will.go (roughly)iin a squaie

# Th0seexample has twksftans, "edge" tmagngoes"straied:, andn"Dnim"G# tmagnDnims"90to grees to the lef-. It bou,cesmback andnfp,th.betweenG# tmese twksftans.

# No
  howuitnuseslonAct.vat () to rememberxwhereuitnwas whenxi 
# sned 0.0bsth0casCs. It thenxmov s (n1.ward.p,nto the lef-) u,nil
# itnhas mov d enough.

# Exercisesllef- to reader:
n# 1. axi= does:'tlavoid obcl s; whagnmu     do to do thag?
n# 2. axi= relieslcompletely oSuodometry fp,nl
calization (ie,)ntnuses
#)ueadnr,cko1.si); would:'tlin be.bet --4sksadd someitype of
#)landmark-basCd syfem,)nf landmarksixr "available?
n# 3. Th0sedoes:'tluse nyry.sophisticat d behaviors 0p,ntur1.si"orn# mov.si. It would be.bet --, 0p, example,lnf txT.tur1.si"sl--ed downG# whenxi agoteclos -4sks,ts desired.angle. Howuwould     do thag?
n# 4. If     wanted )kstranyrs sa(map,0    would need to have a
#)uifferent.stanx0p, each position 0.0thenmap. You could get aroundG# tmagnbylusosi"axT.onGosk() a:
 Gosk() methods. But0    would have to
#lmake the n.xt sn aongotomatp r0,nter tmagn    px"= 0.. Why?
G-rom pyrobst.brain.fuzzy -------*
-rom pyrobst.brain.behaviors -------*
-rom pyrobst.geometry -------*4):#l-------dista c) fu,ctiong-------math
-rom ,nydom -------,nydomgn:
x"= TnimLef-Behaviort(Behavior)nubotto  lfetup(f.nn)iubottit  nu):
Effects('hotan', .1)G
 x"=   nu):
Effects('trayslan', .1)}Gubotto  lu h:
 (f.nn)iG
 x"=  tnu):
IF(1, 'hotan', .1)G
 x"=   nu):
IF(1, 'trayslan', 0)
n:
x"= Straied:Behaviort(Behavior)nubotto  lfetup(f.nn)i
#lmethod called whenxcn
tNo ifioinu):
Effects('trayslan', .1)}G
 x"=   nu):
Effects('hotan', .1) unbotto  lu h:
 (f.nn)iG
 x"=  tnu):
IF(1, 'trayslan', .1)}G
 x"=   nu):
IF(1, 'hotan', 0)Gn:
x"= edge (Stan)nubotto  lfetup(f.nn)itNo ifioinu):
add(Straied:Behavior(1))tubotto  lonAct.vat (f.nn)i
#lmethod called whenxact.vat d p,ngoton
tNo ifioinu):
snX.= n.nnE,-bst.xtNo ifioinu):
snY.= n.nnE,-bst.ytNo ifioinbotto  lu h:
 (f.nn)iG
 x"=  tx.= n.nnE,-bst.xtNo ifioiy.= n.nnE,-bst.ytNo ifioidisti= dista c)(inu):
snX,inu):
snYnnx, y)iG
 x"=   #pri,n "actu  i= (%f, %f) sn = (%f, %f);idisti= %f"
\e(4):
 y"#      % (x, y,inu):
snX,inu):
snYnndist)G
 x"=   -f.disti> 1.nnubottit   = tnu):
goto('tur1')Gn:
x"= Dnimx(Stan)nubotto  lfetup(f.nn)itNo ifioinu):
cou,n = 0Gtit     nu):
add(TnimLef-Behavior(1))tubotto  lonAct.vat (f.nn)iGtit     nu):
th.= n.nnE,-bst.thunbotto  lu h:
 (f.nn)iG
 x"=  tth.= n.nnE,-bst.thu
 x"=   #pri,n "actu  i= %f sn = %f"
% (th,lnu):
th)u
 x"=   -f.angleAdd(th,l- nu):
th)}> 90: G
 x"=       nu):
goto('edge')

o  lINIT(engine)ii#tpx"=es 0.0engine,)nf     need i-uNo ibrain = BehaviorBasCdBrain({'trayslan' : engineE,-bst.trayslan,
\e(4):
 y"= y_blttitttittttttttttt'hotan' : engineE,-bst.hotan,
\e(4):
 y"= y_blttitttittttttttttt'u h:
 ' : engineE,-bst.u h:
  }, engine)e(4):#l"dd a few.stansnubottbrain.add(edge(1))tNo ibrain.add(Dnim())tNo ireDnimxbraingpyrobst/plugins/brains/BBTest.py0100755000076400003100000000720010260524106016666 0u  dblankfacy# A Behavior-basCd syfem
G-rom pyrobst.brain.fuzzy -------*
-rom pyrobst.brain.behaviors -------*
n:
x"= beh1 (Behavior)nubotto  lfetup(f.nn)ii# called whenxcn
tNo ifioipri,n "---fetupializosi",ns.nnEn0,n, "..."ubottit

nu):
Effects('trayslan', .6).# o  a v    sG
 xtit

nu):
Effects('hotan', .6).# now we un'tlhave tolfet them againgtbotto  lonAct.vat (f.nn)iGtit     px"=Gtit   nbotto  lu h:
 (f.nn)iG
 x"=  tfuzz = Fuzzy(5,l100)tNo ifioipri,n "---u h:
osi",ns.nnEn0,n, "..."ubottit

nu):
IF(Fuzzy(0, 1) >> 0, 'hotan', .96)i# cannfet o  a amou,nG
 x"=   nu):
IF(1.0, 'hotan', .5)G
 x"=   nu):
IF(Fuzzy(5,l6) >> 6.5, 'hotan', .5)G
 x"=   nu):
IF(1.0, 'trayslan', .5)tNo ifioipri,n "---d= ( u h:
osi"
n:
x"= beh2t(Behavior)nubotto  lfetup(f.nn)iubottit  pri,n "---fetupializosi",ns.nnEn0,n, "..."ubottit

ubotto  lonAct.vat (f.nn)iGtit     nu):
Effects('trayslan', 0.75).# o  a v    sG
 xtit

nu):
Effects('hotan', 0.75)gtbotto  lonDeact.vat (f.nn)iGtit     pri,n 'hea osi out...'unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "---u h:
osi",ns.nnEn0,n, "..."ubottit

nu):
Effects('hotan', .7) #)c * ge affectp,non flyG
 x"=   nu):
IF(.5, 'trayslan', 0.1)G
 x"=   nu):
IF(1.0, 'hotan', 0.2)G
 x"=   nu):
IF(1.0, 'hotan', 0.4)tNo ifioipri,n "---d= ( u h:
osi"
n:
x"= stan1 (Stan)nubotto  lfetup(f.nn)itNo ifioinu):
add(beh1(1))tNo ifioinu):
add(beh2(1))tNo ifioinu):
add(beh2(1, {}, 'beh3'))tNo ifioipri,n "fetupializCd stan",ns.nnEn0,nGubotto  lonAct.vat (f.nn)iG
 x"=  tnu):
cou,n = 0Gubotto  lonDeact.vat (f.nn)iGtit     #lmake motors(stop FIX!Gtit     pri,n 'hea osi out ofustan1...'unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "U h:
osiustan1..."Gtit     #llet'slcou,n till.tenxandnthenxlet'slc * ge ftanG
 x"=   nu):
cou,n = nu):
cou,n + 1ubottit  ifns.):
coun  == 1nnubottit   = tnu):
goto('ftan_empty')tNo ifioipri,n "Finish d execu
osiustep.numberx ",s.):
coun tNo ifion:
x"= stan_empty (Stan)nubotto  lonAct.vat (f.nn)i
#lcalled whenxi ag0ts act.vat dtNo ifioinu):
cou,n = 0Gtit     pri,n "Act.vatisiustan_empty!"gtbotto  lonDeact.vat (f.nn)iGtit     pri,n 'hea osi out ofustan_empty...'unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "U h:
osiuEmpty stan"Gtit     #llet'slcou,n till.10xandnthenxlet'slc * ge ftanG
 x"=   nu):
cou,n = nu):
cou,n + 1ubottit  ifns.):
coun  == 1nnubottit   = tnu):
goto('ftan1')t#
0p,ksftans, = ( with.argsnubottit   = tnu):
goto('ftan3',ns.nnEcoun ,xnu):
cou,n + 1,
\e(4):
 y"= y_blttitttitnu):
cou,n + 2) #.it'slok)nf ,tc0sealready act.veubottfioipri,n "Finish d execu
osiustep.numberx ",s.):
coun tn:
x"= stan3 (Stan)nubotto  lfetup(f.nn)itNo ifioinu):
add(beh1())tNo ifioinu):
x = 0Gtit     nu):
y = 0Gtit     nu):
z = 0iiiiiiiiigtbotto  lonGosk(nu):,.argv)i
#largvx0seoption  iunle"=     px"= varsge(4):
 xifnlen(argv) == 3nubottit   = tpri,n 'x =',.argv[0]ubottit   = tpri,n 'y =',.argv[1]ubottit   = tpri,n 'z =',.argv[2]ubottit   = tnu):
x = argv[0]ubottit   = tnu):
y = argv[1]ubottit   = tnu):
z = argv[2]utbotto  lonDeact.vat (f.nn)iGtit     pri,n 'hea osi out ofustan3...'unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "Stan1 staus =",ns.nnEg0tStan('ftan1').stausG
 x"=  tpri,n "U h:
osiuStan3!"gto  lINIT(engine)ii#tpx"=es 0.0engine,)nf     need i-uNo ibrain = BehaviorBasCdBrain({'trayslan' : engineE,-bst.trayslan,
\e(4):
 y"= y_blttitttittttttttttt'hotan' : engineE,-bst.hotan,
\e(4):
 y"= y_blttitttittttttttttt'u h:
 ' : engineE,-bst.u h:
  }, engine)e(4):#l"dd a few.stansnubottbrain.add(stan1()).# non act.veubottbrain.add(stan1(0, 'ftan2')).# not act.ve, n0,nG
 x"brain.add(stan_empty())tNo ibrain.add(stan3())e(4):#l"ct.vat sa(stat nubottbrain.act.vat ('stan1')t#
could have made it act.vex0.0constructor
bottreDnimxbraingtpyrobst/plugins/brains/BBTest2.py0100755000076400003100000000716710260524106016764 0u  dblankfacy-rom pyrobst.brain.fuzzy -------*
-rom pyrobst.brain.behaviors -------*
n:
x"= beh1 (Behavior)nubotto  lfetup(f.nn)ii# called whenxcn
tNo ifioipri,n "---fetupializosi",ns.nnEn0,n, "..."ubottit

nu):
Effects('trayslan', 1.0  # o  a v    sG
 xtit

nu):
Effects('hotan', 1.0  # now we un'tlhave tolfet them againgtbotto  lonAct.vat (f.nn)iGtit     px"=Gtit   nbotto  lu h:
 (f.nn)iG
 x"=  tfuzz = Fuzzy(5,l100)tNo ifioipri,n "---u h:
osi",ns.nnEn0,n, "..."ubottit

nu):
IF(Fuzzy(0, 1) >> 0, 'hotan', .96)i# cannfet o  a amou,nG
 x"it

nu):
IF(1.0, 'hotan', .5)G
 x"=   nu):
IF(Fuzzy(5,l6) >> 6.5, 'hotan', .5)G
 x"=   nu):
IF(1.0, 'trayslan', .5)tNo ifioipri,n "---d= ( u h:
osi"
n:
x"= beh2t(Behavior)nubotto  lfetup(f.nn)iubottit  pri,n "---fetupializosi",ns.nnEn0,n, "..."ubottit

ubotto  lonAct.vat (f.nn)iGtit     nu):
Effects('trayslan', 1.0  # o  a v    sG
 xtit

nu):
Effects('hotan', 1.0 gtbotto  lonDeact.vat (f.nn)iGtit     pri,n 'hea osi out...'unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "---u h:
osi",ns.nnEn0,n, "..."ubottit

nu):
Effects('hotan', .7) #)c * ge affectp,non flyG
 x"=   nu):
IF(.5, 'trayslan', 0.1)G
 x"=   nu):
IF(1.0, 'hotan', 0.2)G
 x"=   nu):
IF(1.0, 'hotan', 0.4)tNo ifioipri,n "---d= ( u h:
osi"
n:
x"= stan1 (Stan)nubotto  lfetup(f.nn)itNo ifioinu):
add(beh1(1))tNo ifioinu):
add(beh2(1))tNo ifioinu):
add(beh2(1, {}, 'beh3'))tNo ifioipri,n "fetupializCd stan",ns.nnEn0,nGubotto  lonAct.vat (f.nn)iG
 x"=  tnu):
cou,n = 0Gubotto  lonDeact.vat (f.nn)iGtit     #engineE,-bst.act('mov ', 0, 0) FIXGtit     pri,n 'hea osi out ofustan1...'unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "U h:
osiustan1..."Gtit     #llet'slcou,n till.tenxandnthenxlet'slc * ge ftanG
 x"=   nu):
cou,n = nu):
cou,n + 1ubottit  ifns.):
coun  == 1nnubottit   = tnu):
goto('ftan_empty')tNo ifioipri,n "Finish d execu
osiustep.numberx ",s.):
coun tNo ifion:
x"= stan_empty (Stan)nubotto  lonAct.vat (f.nn)i
#lcalled whenxi ag0ts act.vat dtNo ifioinu):
cou,n = 0Gtit     pri,n "Act.vatisiustan_empty!"gtbotto  lonDeact.vat (f.nn)iGtit     pri,n 'hea osi out ofustan_empty...'unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "U h:
osiuEmpty stan"Gtit     #llet'slcou,n till.10xandnthenxlet'slc * ge ftanG
 x"=   nu):
cou,n = nu):
cou,n + 1ubottit  ifns.):
coun  == 1nnubottit   = tnu):
goto('ftan1')t#
0p,ksftans, = ( with.argsnubottit   = tnu):
goto('ftan3',ns.nnEcoun ,xnu):
cou,n + 1,
\e(4):
 y"= y_blttitttitnu):
cou,n + 2) #.it'slok)nf ,tc0sealready act.veubottfioipri,n "Finish d execu
osiustep.numberx ",s.):
coun tn:
x"= stan3 (Stan)nubotto  lfetup(f.nn)itNo ifioinu):
add(beh1())tNo ifioinu):
x = 0Gtit     nu):
y = 0Gtit     nu):
z = 0iiiiiiiiigtbotto  lonGosk(nu):,.argv)i
#largvx0seoption  iunle"=     px"= varsge(4):
 xifnlen(argv) == 3nubottit   = tpri,n 'x =',.argv[0]ubottit   = tpri,n 'y =',.argv[1]ubottit   = tpri,n 'z =',.argv[2]ubottit   = tnu):
x = argv[0]ubottit   = tnu):
y = argv[1]ubottit   = tnu):
z = argv[2]utbotto  lonDeact.vat (f.nn)iGtit     pri,n 'hea osi out ofustan3...'unbotto  lu h:
 (f.nn)iG
 x"=  tpri,n "Stan1 staus =",ns.nnEg0tStan('ftan1').stausG
 x"=  tpri,n "U h:
osiuStan3!"gto  lINIT(engine)iuNo ibrain = BehaviorBasCdBrain({'trayslan' : engineE,-bst.trayslan,
\e(4):
 y"= y_blttitttittttttttttt'hotan' : engineE,-bst.hotan,
\e(4):
 y"= y_blttitttittttttttttt'u h:
 ' : engineE,-bst.u h:
  }, engine)ee(4):#l"dd a few.stansnubottbrain.add(stan1()).# non act.veubottbrain.add(stan1(0, 'ftan2')).# not act.ve, n0,nG
 x"brain.add(stan_empty())tNo ibrain.add(stan3())e(4):#l"ct.vat sa(stat nubottbrain.act.vat ('stan1')t#
could have made it act.vex0.0constructor
bottreDnimxbraint#ir,Dnim object with..run(), andn.fep()tpyrobst/plugins/brains/BBWander.py0100755000076400003100000000420710263033112017166 0u  dblankfacy# A Behavior-basCd co,nrol syfem
G-rom pyrobst.brain.fuzzy -------*
-rom pyrobst.brain.behaviors -------*
-------math,-aime
n:
x"= Avoid (Behavior)nubott"""Avoid C
x"="""ubotto  lfetup(f.nn)ii# called whenxcn
tNo ifioi"""fetuplmethod"""ubott = tnu):

x"taime =-aime.aime()G
 x"=  tnu):
cou,n = 0Gubotto  ldiax11ion(f.nnnndia)iG
 x"=  t"""lcompuns opposite diax11ion.given an.angle"""ubott = t-f.dir < 0.nnubottit   = treDnimx0.3ubottit  el  nubottit   = tr,Dnim -0.3unbotto  lu h:
 (f.nn)iG
 x"=  tifns.):
coun  == 5nnubottit   = teurraime =-aime.aime()G
 x"=  t=  tnu):
cou,n = 0G
 x"=  t=  tnu):

x"taime =--aime.aime()G
 x"=  tel  nubottit   = ts.):
coun  +=i1uit   = telos _dist,.angle efmin( [(s.dista c)(),ns.angle(unit="ra oays")) -p,ns 0.0n.nnE,-bst.ray,
["-ro,n-all"]])tNo ififimax_fensit.vex=0n.nnE,-bst.ray,
Eg0tMaxv    () *x0.8ubottit

nu):
IF(Fuzzy(0.1,
max_fensit.ve) <>telos _dist,.'trayslan', 0.3, "Ok")G
 x"=   nu):
IF(Fuzzy(0.1,
max_fensit.ve) <>telos _dist,.'hotan', 0.0, "Ok")Gn:
x"= TnimAround(Stan)nubotto  lu h:
 (f.nn)iG
 x"=  tifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["-ro,n-all"]]) < 1.nnubottit   = tnu):
mov (0, .2)G
 x"=   el  nubottit   = ts.):
goto("stan1")

:
x"= stan1 (Stan)nubott"""lsample sn """ubotto  lfetup(f.nn)itNo ifioinu):
add(Avoid(1, {'trayslan': .3, 'hotan': .3}))tNo ifioipri,n "initializCd stan",ns.nnEn0,nGbotto  lu h:
 (f.nn)iG
 x"=  tifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["-ro,n-all"]]) < 1: G
 x"=       nu):
goto("TnimAround")

o  lINIT(engine)ii#tpx"=es 0.0,-bst,)nf     need i-uNo ibrain = BehaviorBasCdBrain({'trayslan' : engineE,-bst.trayslan,
\e(4):
 y"= y_blttitttittttttttttt'hotan' : engineE,-bst.hotan,
\e(4):
 y"= y_blttitttittttttttttt'u h:
 ' : engineE,-bst.u h:
  }, engine)e(4):#l"dd a few.stansnuNo ibrain.add(stan1()).# non act.veubottbrain.add(TnimAround()).# non act.veue(4):#l"ct.vat sa(stat nubottbrain.act.vat ('stan1')t#
could have made it act.vex0.0constructor
bottreDnimxbraingpyrobst/plugins/brains/BBWanderAndCapDnie.py0100755000076400003100000000606410263033112021140 0u  dblankfacy# A Behavior-basCd syfem
G-rom pyrobst.brain.fuzzy -------*
-rom pyrobst.brain.behaviors -------*
-rom pyrobst.brain.behaviors.core -------*ii# Stop

-------math
-rom ,nydom -------,nydomg-------aime
n:
x"= Avoid (Behavior)nubotto  lfetup(f.nn)ii# called whenxcn
tNo ifioinu):
Effects('trayslan', .3)}G
 x"=   nu):
Effects('hotan', 1)G
 x"=   nu):

x"taime =-0Gtit     nu):
cou,n = 0Gubotto  ldiax11ion(f.nnnnv    )iG
 x"=  tifnv    x< 0nubottit   = tr,Dnim -1G
 x"=   el  nubottit   = tr,Dnim 1unbotto  lu h:
 (f.nn)iG
 x"=  ts.):
coun  +=i1uit   = tifns.):
coun  == 5nnubottit   = teurraime =-aime.mkaime(aime.l
calaime())G
 x"=  t=  tpri,n "================================Loopx0.",n(eurraime - nu):

x"taime)/50.0, "seconds."G
 x"=       nu):
cou,n = 0G
 x"=  t=  tnu):

x"taime =--aime.mkaime(aime.l
calaime())Guit   = telos _dist,.elos _angle efmin([(s.dista c)(),ns.angle(unit="ra oays")/math.pi) -p,ns 0.0n.nnE,-bst.ray,
["all"]])tNo ififipri,n "Clos s--dista c) is:",telos _distGtit     #lFIX:xdiax11ionG=  t=  tnu):
IF(Fuzzy(1.0, 3.0  <
\e(4):
 y"= y_blttblob.blob_at h:
a.bloblist,.bigr-d).mx"=nubottit   = tbigr-d = iG
 x"= pri,n "gotelargest..."Gtit   pos = blob.blob_at h:
a.bloblist,bigr-d).cm_xtNo ifiscalepos = (nu):
cwidth/2 - pos)/nu):
cwidthG
 x"= pri,n "%f\t%f"
% (pos,iscalepos)G
 x"= s.nnEnStep.= s.nnEnStep.+ 1ubottitifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["-ro,n"]]) > .4nubottit   pri,n "Tur1.si..."Gtit     tnu):
mov (.1,
scalepos*2)G
 x"=    pri,n "Tur1ed"Gtit   el  nubottit   pri,n "Stopp.si..."Gtit     tnu):
mov (0, 0)G
 x"=    pri,n "Stopped"Gtit   

# -------------------------------------------------------
# Th0seis"axT.in --fac xfp,ncallosi"0rom axT.gui engineE
# Takes = ( par0, (a.0engine), andnr,Dnims"a-Brain object:
# -------------------------------------------------------

o  lINIT(engine)iubotreDnimxSimpleBrain('SimpleBrain', engine)ttit   
pyrobst/plugins/brains/C0,Mov r.py0100755000076400003100000000067710263033112017262 0u  dblankfacy-rom pyrobst.braint-------Braintn:
x"= SimpleBrain(Brain):G ):#lOnlylmethod     have tolo  ineeis"axT.step.method:G x"o  lfep(f.nn)iubottit  px"=G
# -------------------------------------------------------
# Th0seis"axT.in --fac xfp,ncallosi"0rom axT.loaderE
# Takes = ( par0, (a.0engine), andnr,Dnims"a-Brain object:
# -------------------------------------------------------

o  lINIT(engine)iubotreDnimxSimpleBrain('SimpleBrain', engine)ttit   
pyrobst/plugins/brains/Develop.py0100755000076400003100000001640610263033112017144 0u  dblankfacy-rom pyrobst.braint-------Braint-rom pyrobst.gui.plst.scat --4-------*
-rom ,nydom -------,nydomg-rom aime -------sleep
-rom math -------sqrt,.fabs,ifloorgt-rom OpenGL.Tk -------*
n# someit s--d:
a fp,nofflineework:
# a)uifference matrix:
h:
a = [[0, 0.85162, 1.1705, 1.16898, 1.13626, 1.02382, 1.02108, 0.92296, 1.03327, 1.12973, 1.17869, 1.27797, 1.44365, 1.35182, 1.0667, 0.32486],ubottit  [0, 0, 0.57832, 0.82448, 1.2327, 1.2223, 1.1779, 1.15408, 1.15861, 1.02119, 1.01911, 0.99189, 1.14645, 1.25696, 1.21544, 0.97718],ubottit  [0, 0, 0, 0.51826, 0.96656, 1.13812, 1.1872, 1.2268, 1.22425, 1.07375, 0.95339, 0.88097, 1.04973, 1.26618, 1.24508, 1.28552],ubottit  [0, 0, 0, 0, 0.7447, 1.01882, 1.17506, 1.21854, 1.25219, 1.16075, 1.06309, 0.86337, 0.98763, 1.1755, 1.33068, 1.23092],ubottit  [0, 0, 0, 0, 0, 0.60992, 0.97836, 0.9507, 1.10329, 1.31973, 1.26875, 0.99859, 1.00877, 1.01182, 1.04522, 1.17952],ubottit  [0, 0, 0, 0, 0, 0, 0.66822, 0.9757, 1.14735, 1.25217, 1.22617, 1.14443, 1.07133, 0.99356, 1.034, 1.04802],ubottit  [0, 0, 0, 0, 0, 0, 0, 0.90886, 1.01515, 1.28035, 1.27681, 1.19291, 1.18413, 1.03972, 0.88406, 0.92036],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0.43665, 1.12803, 1.32311, 1.31291, 1.27895, 1.15522, 0.9602, 0.85752],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0481, 1.23462, 1.17394, 1.23808, 1.18885, 1.08355, 0.94339],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.552, 0.99686, 1.23766, 1.37767, 1.31309, 1.20307],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.63242, 1.0932, 1.38771, 1.37423, 1.28383],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.61038, 1.08169, 1.23097, 1.27565],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.67671, 1.05147, 1.44325],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.6813, 1.1955],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.93454],ubottit  [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]]

o  ldista c)(x1, y1, x2, y2)iubotreDnimxsqrt( (x1 - x2) *x(x1 - x2) + (y1 - y2) *x(y1 - y2))ttitn:
x"= Relax:G x"o  l__init__(f.nn, num)iubottitnu):
poin _x = []ubottitnu):
poin _y = []ubottitnu):
num = numubottitnu):
aime =-0.0ubottitnu):
maxaime =-1000.0ubottitnu):
scat --4= Scat --(title ef'TxT.Kuipers Experiment',ubottit                       history = [16], linecou,n = 1, width=400, heted:=300,ubottit                       legend = ["16th Son Sensor"],ubottit                       xSn=-2, xEnd = 3,ubottit                       ySn=-2, yEnd = 3)ttit   fp,ni 0.0,ny,
 num)iubottit itnu):
poin _x.append(,nydom())G
 x"=  t=nu):
poin _y.append(,nydom())G
 x"= nu):
graph()Gg x"o  lfep(f.nn,)uiff)iubottitincr =-0.1ubottitnu):
aime +=i1.0ubottittemp.= .01 # 1.0 - (nu):
aime /tnu):
maxaime)):#l.05.# need attemp.schedulettit   fp,ni 0.0,ny,
 nu):
num)iubottit it# pri,n "Relax.fep", iG
 x"=    ,nyd.= ,nydom()ubottit it#pri,n ,nyd,ttempubottit   if ,nyd. nu):
,elax
maxaimenubottit   = ts.):
,elax
display()G
 x"=       nu):
sn ef'd= ('uit   = ttel  nubottit   = tifnn.nnE,-bstiubottit it   = ts.):
,elax
fep(f.nn
uiff  #  h:
a) -p,nhardcodn
tNo ifioi= ttel  nubottit   = t= ts.):
,elax
fep(h:
a) #  h:
a) -p,nhardcodn
tNo ifielifnn.nnEsn eef'd= ('nubottit   if nu):
,-bstiubottit it   nu):
,-bst.disconnect()G
 x"=       nu):
pleaseStop()G
 x"=    el  nubottit   = ts.):
pleaseQuit()G
 x"=       reDnimx0ubottitreDnimx1

# -------------------------------------------------------
# Th0seis"axT.in --fac xfp,ncallosi"0rom axT.gui engineE
# Takes = ( par0, (axT.,-bst), andnr,Dnims"a-Brain object:
# -------------------------------------------------------

o  lINIT(engine)iubotreDnimxDevelopBrain(engine)ttit   
i l__n0,n__ eef'__main__'nubotdb efDevelopBrain(0)G
 xwhile db.fep()iubottitpx"=Gpyrobst/plugins/brains/FSMSquaie.py0100755000076400003100000000434610263033112017354 0u  dblankfacy# A FSM nuquencing sample
# D.S. Blank

# Th0sePyrobst example will.go (roughly)iin a squaie

# Th0seexample has twksftans, "edge" tmagngoes"straied:, andn"Dnim"G# tmagnDnims"90to grees to the lef-. It bou,cesmback andnfp,th.betweenG# tmese twksftans.

# No
  howuitnuseslonAct.vat () to rememberxwhereuitnwas whenxi 
# sned 0.0bsth0casCs. It thenxmov s (n1.ward.p,nto the lef-) u,nil
# itnhas mov d enough.

# Exercisesllef- to reader:
n# 1. axi= does:'tlavoid obcl s; whagnmu     do to do thag?
n# 2. axi= relieslcompletely oSuodometry fp,nl
calization (ie,)ntnuses
#)ueadnr,cko1.si); would:'tlin be.bet --4sksadd someitype of
#)landmark-basCd syfem,)nf landmarksixr "available?
n# 3. Th0sedoes:'tluse nyry.sophisticat d behaviors 0p,ntur1.si"orn# mov.si. It would be.bet --, 0p, example,lnf txT.tur1.si"sl--ed downG# whenxi agoteclos -4sks,ts desired.angle. Howuwould     do thag?
n# 4. If     wanted )kstranyrs sa(map,0    would need to have a
#)uifferent.stanx0p, each position 0.0thenmap. You could get aroundG# tmagnbylusosi"axT.onGosk() a:
 Gosk() methods. But0    would have to
#lmake the n.xt sn aongotomatp r0,nter tmagn    px"= 0.. Why?
G-rom pyrobst.geometry -------*4):#l-------dista c) fu,ctiong-rom pyrobst.brain.behaviors -------Stan,
FSMBraintn:
x"= edge (Stan)nuubotto  lonAct.vat (f.nn)i
#lmethod called whenxact.vat d p,ngoton
tNo ifioinu):
snX.= n.nnE,-bst.xtNo ifioinu):
snY.= n.nnE,-bst.ytNo ifioinbotto  lu h:
 (f.nn)iG
 x"=  tx.= n.nnE,-bst.xtNo ifioiy.= n.nnE,-bst.ytNo ifioidisti= dista c)(inu):
snX,inu):
snYnnx, y)iG
 x"=   pri,n "EDGE: actu  i= (%f, %f) sn = (%f, %f);idisti= %f"
\e(4):
 y"""""""% (x, y,inu):
snX,inu):
snYnndist)G
 x"=   -f.disti> 1.nnubottit   = tnu):
goto('tur1')G x"=    el  nubottit   = ts.):
mov (.3, 0)Gn:
x"= Dnimx(Stan)nuubotto  lonAct.vat (f.nn)itNo ifioinu):
th.= n.nnE,-bst.thunbotto  lu h:
 (f.nn)iG
 x"=  tth.= n.nnE,-bst.thu
 x"=   pri,n "TURN: actu  i= %f sn = %f"
% (th,lnu):
th)u
 x"=   -f.(thl- nu):
th)}> 90: G
 x"=       nu):
goto('edge')
 x"=    el  nubottit   = ts.):
mov (0, .2)Gto  lINIT(engine)ii#tpx"=es 0.0engine,)nf     need i-uNo ibrain = FSMBrain("Squaie-Brain", engine)e(4):#l"dd a few.stansnubottbrain.add(edge(1))tNo ibrain.add(Dnim())tNo ireDnimxbraingpyrobst/plugins/brains/Joystick.py0100755000076400003100000000122010260524106017336 0u  dblankfacy-rom pyrobst.braint-------Braint-rom pyrobst.tools -------joystickg-rom aime -------sleep
n:
x"= JoystickCo,nrol(Brain):Gg x"o  lfetup(f.nn)iubottitnu):
stick = joystick.Joystick()Gg x"o  lfep(f.nn)iubottitnu):
,-bst.mov (tnu):
stick.trayslan,e(4):
 y"= y_blttitttitttttitnu):
stick.hotan )Gg x"o  ldestroy(f.nn)iubottitnu):
stick.destroy()

# -------------------------------------------------------
# Th0seis"axT.in --fac xfp,ncallosi"0rom axT.gui engineE
# Takes = ( par0, (a.0engine), andnr,Dnims"a-Brain object:
# -------------------------------------------------------

o  lINIT(engine)iubotreDnimxJoystickCo,nrol('JoystickCo,nrol', engine)ttit   
pyrobst/plugins/brains/JoystickMap.py0100755000076400003100000000510410263033112017774 0u  dblankfacy-rom pyrobst.braint-------*t-rom pyrobst.tools.joystickt-------Joystick
-------pyrobst.syfem.shxr "as shxr t-rom pyrobst.map.lps -------LPSt-rom pyrobst.map.gps -------GPSt-------ahread
n:
x"= Map(Brain):G ):o  lfetup(f.nn)iubottit# We want ournmap aonmeasnie intMM,lno we first sore ourneurrent.unit ofumeasnieubottitunitsx=0n.nnE,-bst.ray,
Eunitsubottit# We thenxrefet ournmeasniements to MMsubottitnu):
,-bst.ray,
Eunits ef'MM'ubottit# Calcn ahenmaximum0,ny,
 ofuournsensorsubottit,ny,
MaxMMx=0n.nnE,-bst.ray,
Eg0tMaxv    ()ubottitnizeMMx=0,ny,
MaxMMx* 3 + (n.nnE,-bst.radius /-1000.0) #.in MMsubottit# Refet ournunit ofumeasnieubottitnu):
,-bst.ray,
Eunits efunitsubottit# Now, we cn ournL
cal Perceptu  iSpac xwindowl- axi= will.hold ournl
calnmapubottit# Map will.be 20pxnbyl20pxnandnwill.reprefent.a heted:nandnwidth.ofusizeMMx(totalnsensor0,ny,
)G
 x"= nu):
lps =-LPS( 40, 40,ubottit                widthMMx=0nizeMM,ubottit                heted:MMx=0nizeMM)ubottit# Thenxcn ournGlobal Perceptu  iSpac xwindowl- axi= will.hold ournglobal mapubottit# Th0semap will.be 500pxnbyl500pxnandnwill.reprefent.anixr a N aimes axT.size ofuournmaximum0,ny,
G
 x"= nu):
gps =-GPS( cols=300, rows=300,ubottit                heted:MMx=0nizeMMx* 5, widthMMx=0nizeMMx* 5)G
 x"= nu):
joystickt=-Joystick(shxr .gui)G
 x"= s.nnEneed_redraw = Fal  G
 x"= nu):
lockt=-ahread.allocat _lock()ubottitn x"o  lfep(f.nn)iubottitifnnot nu):
lock.acquire(Fal  ):G
 x"=    reDnimubottit#pri,n "Stepp.si...",ubottit# First we cle out alluournold LPS-d:
aG
 x"= nu):
lps.refet()ubottit# N.xt w( u h:
n ournLPS-with.eurrent.',ny,
'nsensor0,ea osisG
 x"= nu):
lps.sensorHits(n.nnE,-bst,.',ny,
')ubottit# Now redraw ournLPS-windowl- axenLPS-redraw cannbe ---rov  p--forma c)ubottitn x"tit# Thenxu h:
n ournGPS-with.the n.w.information 0.0thenLPSt
 x"= nu):
gps.u h:
 FromLPS(nu):
lps,
nu):
,-bst)ubottit# Finally, we redraw thenGPS-windowubottitn x"tits.nnEneed_redraw = Tru G
 x"= nu):
mov (nu):
joystick.trayslan,
nu):
joystick.hotan)G
 x"= nu):
lock.release()ubottit#pri,n "d= ( stepp.si!"G
 x"= n x"o  lredraw(f.nn)iubottitifn(not nu):
lock.acquire(Fal  )):G
 x"=    reDnimubottit#pri,n "Redraw.si...",ubottitif nu):
need_redrawnubottit   nu):
lps.redraw(drawLabels=Fal  )ubottit   nu):
gps.u h:
 ()ubottit   nu):
gps.redraw()ubottit   nu):
need_redraw = Fal  G
 x"= nu):
lock.release()ubottit#pri,n "d= ( redraw.si!"G
 x"=  g x"o  ldestroy(f.nn)iubottit# Mak( snie we close down clenlyG
 x"= nu):
lps.destroy()
tit   nu):
gps.destroy()
tit   nu):
joystick.destroy()
tit    
o  lINIT(engine)iubotreDnimxMap("Mapp.si-Brain", engine)epyrobst/plugins/brains/KLted:.py0100755000076400003100000000176310263033112016730 0u  dblankfacy# --------------------------------------------------------
# A-Braitenberg Vehicle
# D.S. Blank
# --------------------------------------------------------

#l-------someiaddition  ilibrarinsnut-rom pyrobst.braint-------Braint-rom math -------fabs
n# sub:
x"= brain:
n:
x"= Vehicle(Brain):G ):#lOnlylmethod     have tolo  ineefp,naebraint-s"axT.step.method:G x"o  lfetup(f.nn)iubottitnu):
robst.lted:[0]
units ef'SCALED'Gg x"o  lfep(f.nn)iubottitllef- =tnu):
robst.lted:[0][1].dista c)()):#lKhepnra specificubottitlrted: = nu):
robst.lted:[0][4].dista c)())#lKhepnra specificuubottitlpri,n "Rted::",tried:, "Lef-:",tlef-uubottitlDnimx= (rted: - lef-) /nmax([s.dista c)() -p,ns 0.0n.nnE,-bst.lted:[0]["all"]])tNo ififn1.ward.= .3 - fabs(Dnimx* .3)}#.go whenxno lted:uubottitlnu):
,-bst.mov (n1.ward,lDnim)

# Th) fu,ctionlINIT tmagnDakes a.robst andnr,Dnims"a-brain:
no  lINIT(engine)iubotif  ngineE,-bst.type !ef'khepnra'nubottitraise "Robst should be.alKhepnra"ubotreDnimxVehicle('Braitenberg', engine)ttit   
pyrobst/plugins/brains/LPSWander.py0100755000076400003100000000264110263033112017341 0u  dblankfacy# A bxr "brain with.a L
cal Perceptu  iViewut-rom pyrobst.braint-------Braint-rom ,nydom -------,nydomg-rom aime -------sleep
-rom pyrobst.map.lps -------LPSt-rom pyrobst.map.gps -------GPSt-rom pyrobst.tools.joystickt-------Joystick
n:
x"= SimpleBrain(Brain):G ):o  lfetup(f.nn)iubottit# cn thenL
cal Perceptiu  iSpac xwindowubottitunitsx=0n.nnE,-bst.ray,
Eunitsubottitnu):
,-bst.ray,
Eunits ef'MM'ubottitnizeMMx=0n.nnE,-bst.ray,
Eg0tMaxv    ()x* 3 + \e(4):
 y"= y_bltn.nnE,-bst.radiusubottitnu):
,-bst.ray,
Eunits efunitsubottitnu):
lps =-LPS( 20, 20,ubottit                widthMMx=0nizeMM,ubottit                heted:MMx=0nizeMM)ubottitnu):
gps =-GPS(400, 300, widthMMx=0nizeMMx* 5, heted:MMx=0nizeMMx* 5)ubottitnu):
stickt=-Joystick()ttitn x"o  ldestroy(f.nn)iubottitnu):
lps.destroy()
tit   nu):
gps.destroy()
tit   nu):
stick.destroy()
titg x"o  lfep(f.nn)iubottitrobst =0n.nnE,-bstG
 x"= nu):
lps.refet()t#ir,fet cou,nsG
 x"= nu):
lps.sensorHits(,-bst,.',ny,
')ubottitnu):
lps.redraw()
tit   nu):
gps.u h:
 FromLPS(nu):
lps,
,-bst)ubottitnu):
gps.redraw()ubottitnu):
,-bst.mov (tnu):
stick.trayslan,tnu):
stick.hotan)
titg# -------------------------------------------------------
# Th0seis"axT.in --fac xfp,ncallosi"0rom axT.gui engineE
# Takes = ( par0, (axT.,-bst), andnr,Dnims"a-Brain object:
# -------------------------------------------------------

o  lINIT(engine)iubotreDnimxSimpleBrain('SimpleBrain', engine)ttit   
pyrobst/plugins/brains/NNCluer.py0100755000076400003100000001055410263033112017421 0u  dblankfacy# A Neur  iNetwork-Braint# D.S. Blank

-rom pyrobst.braint-------Braint-rom pyrobst.brain.conxt-------*t-rom pyrobst.gui.plst.scat --4-------*
-rom pyrobst.gui.plst.hin ont-------*t-rom os -------syfem,)unlosk

o  la2s(a)iubot"""larray tolstrosi""""ubotreDv  i= ''ubotfp,ni 0.0,ny,
 len(a))iubottitreDv  i+= "%.5f "
% a[i]G
 xreDnimxreDv  
n:
x"= NNBrain(Brain):G ):"""ubotTh0seis"a.0example braintco,nrolled by"a-neur  inetwork.ubotTh0sesimple0example loads"axT.,ny,
 sensor0d:
a in o"axTubotinputelay--, andntrains.the n.twork-tolstay away"0romubotthosis.G ):"""uboto  lfetup(f.nn)iubottit"""lCn thennetwork. """ubott =nu):
net =0Network()ubottitnu):
hiddenLay--Size = 10G
 x"= nu):
net.addThreeLay--s(nu):
,-bst.ray,
Ecou,n,e(4):
 y"= y_blttitttitttttititnu):
hiddenLay--Size, 2)G
 x"= nu):
net.fetBatch(0)G
 x"= nu):
net.initializC()G
 x"= nu):
net.fetEpsilon(0.5)tNo ifinu):
net.fetMomentum(.1)tNo ifinu):
net.fetLear1.si(1)tNo ifinu):
cou,n--4= 0ubottitnu):
maxv    x=0n.nnE,-bst.ray,
Eg0tMaxv    ()ubottitnu):
hidScat4= Scat --(title ef'Hidden Lay-- Act.vations',ubottit                       history = [100, 2, 2], linecou,n = 3,ubottit                       legend=['Hidden', 'Motor Out', 'Motor Target'])G
 x"= nu):
hidHin ont= Hin on(nu):
hiddenLay--Size, title ef'Hidden Lay--')ubottitnu):
inHin ont= Hin on(nu):
,-bst.ray,
Ecou,n,e(4):
 y"= y_blttitttitttttitititle ef'InputeLay--')ubottitnu):
outHin ont= Hin on(2, title ef'OutputeLay--')un x"o  ldestroy(f.nn)iubottitnu):
hidScat.destroy()
tit   nu):
hidHin on.destroy()
tit   nu):
inHin on.destroy()
tit   nu):
outHin on.destroy()

 x"o  lscale(f.nnnnv  )iubottitreDnimx(v  i/tnu):
maxv    )
titg x"o  lfep(f.nn)iubottitpri,n n.nnEcou,n--ubottitif nu):
cou,n--4 /dev/null")Gtit   el  nubottit   mode ef'plst'ubottit   # plst0d:
a in PCA spac 
tit   = tpx"= 
ubottitpri,n n.nnEcou,n--ubottit itn x"tit# First,tnuttinputs andntarget=nubottitins.= [nu):
scale(f.dista c)()) -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"tit# Compu
  target=nubottittarget_hotan =-0.5ubottitifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["-ro,n"]]) < 1:G
 x"=    target_trays =-0.0ubottittittarget_hotan =-0.0Gtit   elifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["back"]]) < 1:G
 x"=    target_trays =-1.0Gtit   el  nubottit   target_trays =-1.0Gtit   ifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["lef-"]]) < 1:G
 x"=    target_hotan =-0.0Gtit   elifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["rted:"]]) < 1:G
 x"=    target_hotan =-1.0ubottittarget.= [target_trays, target_hotan]n x"tit#pri,n "Lear1.si: trays =", target_trays, "hotan =", target_hotan
n x"tit# nuttinputs andntarget= with.feptNo ifinu):
net.fep(tinpute=tins, outpute=ttarget)ubottit# get.PCA,lcomponents #1 andn#2, thenxplstiuGtit   ifnmode eef'plst':Gbottit   nyfem("echo "
+la2s(nu):
net['hidden'].act.vation) + " | tools/cluer/cluer -pehidden.  -c1,2 > out")G
 x"=   0plst0= open("out").,ea line().split(' ')
 x"=    tnu):
hidScat.addPoin (t(float(plst[0]) + 1.0  /t2.0,e(4):
 y"= y_blttitttitttttitit t(float(plst[1]) + 1.0  /t2.0 )ubottit# get.axT.output, andnmov nubottittrays =-(nu):
net['output'].act.vation[0] - .5) /t2.0ubottitrotan =-(nu):
net['output'].act.vation[1] - .5) /t2.0ubottitnu):
hidScat.addPoin (ttrays * 2 + .5,e(4):
 y"= y_blttitttitttttitirotan * 2 + .5, 1)ubottitnu):
hidScat.addPoin (ttarget_trays,e(4):
 y"= y_blttitttitttttititarget_hotan, 2)G
 x"= nu):
inHin on.u h:
 (f.nn
net['input'].act.vation)
tit   nu):
hidHin on.u h:
 (f.nn
net['hidden'].act.vation)
tit   nu):
outHin on.u h:
 (f.nn
net['output'].act.vation)ubottit#pri,n "Mov ttit: trays =", trays, "hotan =", hotan
tit   nu):
mov (trays,
hotan)G
 x"= n.nnEcou,n--4+=i1uno  lINIT(engine)iubotreDnimxNNBrain('NNBrain', engine)ttit   
pyrobst/plugins/brains/NNPredic:.py0100755000076400003100000000547710745440007017414 0u  dblankfacy# A Neur  iNetwork-Braint# D.S. Blank

-rom pyrobst.braint-------Braint-rom pyrobst.brain.conxt-------*t-rom pyrobst.gui.plst.scat --4-------Scat --
-------pyrobst.syfem.shxr "as shxr tn:
x"= NNPredic:(Brain):G ):o  lfetup(f.nn)iubottit"""lCrn thennetwork. """ubott =nu):
sensorCou,n = nu):
,-bst.ray,
Ecou,nubott =nu):
net =0Network()ubottitnu):
net.addThreeLay--s(nu):
sensorCou,n, 16, 2)G
 x"= nu):
net.initializC()G
 x"= nu):
net.fetVerbosity(0)G
 x"= nu):
net.fetEpsilon(0.5)tNo ifinu):
net.fetMomentum(.1)tNo ifinu):
net.fetLear1.si(1)tNo ifinu):
trays =-0ubottitnu):
,-tan =-0tNo ifinu):
cou,n--4= 0ubottitnu):
maxv    x=0n.nnE,-bst.ray,
Eg0tMaxv    ()ubottitnu):
n.w.= [nu):
scale(f.dista c)()) -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"titn.nnEplst0= Scat --(app=shxr .gui, linecou,n=2,lconnectPoin s=0,e(4):
 y"= y_blttitttitttttxEnd=10.0, yEnd=1.0, legend=["Trained", "Test"],ubottit                    title="NN Generalization", width=400,e(4):
 y"= y_blttitttitttttxLabel0= "Dista c) to wall",e(4):
 y"= y_blttitttitttttyLabel0= "Speed")n x"titn.nnEplst.addLine(0, .5, 10, .5, colo-4= "green")n x"titn.nnEmin = 0.0ubottitnu):
,-bst.ray,
E_noise = [0.0] * nu):
,-bst.ray,
Ecou,nubott =#nu):
fp = open("train.h:
", "w")G
 x"= n x"o  ldestroy(f.nn)iubottitnu):
plst.destroy()
tit   
 x"o  lscale(f.nnnnv  )iubottitreDnimx(v  i/tnu):
maxv    )titttittttt

 x"o  lteacher(nu):)iubottit# nutttarget= itn x"tittarget_trays  =-1.0ubottittarget_hotan =-0.5ubottitn.nnEmin = min([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
.span(20, -20)])G
 x"= ifnn.nnEmin < 3:G
 x"=    target_trays =-0.5ubottitelifnn.nnEmin < 4:G
 x"=    target_trays =-0.65ubottitelifnn.nnEmin < 5:G
 x"=    target_trays =-0.8ubottitelifnn.nnEmin < 6:G
 x"=    target_trays =-0.95ubottitreDnimx[target_trays, target_hotan]ng x"o  lfep(f.nn)iubottittarget.= nu):
teacher()G
 x"= old =tnu):
n.w.ubottitnu):
n.w.= [nu):
scale(f.dista c)()) -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"tit#ir,fsG
 x"= ifnn.nnEnet.lear1.si:G
 x"=    e,lc, t, p.= s.nnEnet.fep(input=old, output=target)ubottit itif nu):
cou,n--4% 10 eefnnubottit   = tpri,n "erro-4= %.2f"
%  
tit   = tnu):
trays,tnu):
,-tan =-targetubottit   #nu):
fp.wri
 (" ".join(map(lambda f:lstr(f), old)) +ubottit   #              (" %f %f\n"
% (target[0], target[1])))Gtit   el  nubottit   old =tnu):
n.w.+ [nu):
trays,tnu):
,-tan] G
 x"=    s.nnEnet.fep(input=old, output=target)ubottit itnu):
trays,tnu):
,-tan =-f.nn
net['output'].act.vationubottit itif nu):
cou,n--4% 10 eefnnubottit   = tpri,n nu):
trays,tnu):
,-tanubottitcolo-s= ["red", "b   "]n x"titn.nnEplst.addPoin (n.nnEmin, nu):
trays,tin (not nu):
net.lear1.si),e(4):
 y"= y_blttitttittttcolo-=colo-s[in (not nu):
net.lear1.si)])G
 x"= nu):
,-bst.mov ((nu):
trays - .5)/2.0, (n.nnE,-tan - .5)/2.0)G
 x"= n.nnEcou,n--4+=i1uno  lINIT(engine)iubotreDnimxNNPredic:('NNPredic:', engine)ttit   
pyrobst/plugins/brains/NNPredic:WithPlsts.py0100755000076400003100000001045010263033112021243 0u  dblankfacy# A Neur  iNetwork-Braint# D.S. Blank

# No
 attr  xpredic:o-4butluseful"as a platform 0p,ntestosi"axT.n.w.Conxtstep.method.

-rom pyrobst.braint-------Braint-rom pyrobst.brain.conxt-------*t-rom pyrobst.gui.plst.scat --4-------*
-rom pyrobst.gui.plst.hin ont-------*tn:
x"= NNPredic:(Brain):G ):o  lfetup(f.nn)iubottit"""lCrn thennetwork. """ubott =nu):
net =0SRN()
tit   nu):
sensorCou,n = nu):
,-bst.ray,
Ecou,nubott =nu):
net.add(Lay--('input', nu):
sensorCou,n+2))ubottitnu):
net.addCo,next(Lay--('co,next', 2), 'hidden')ubottitnu):
net.add(Lay--('hidden', 2))ubottitnu):
net.add(Lay--('predic:ion', nu):
sensorCou,n))ubottitnu):
net.add(Lay--('motorOutput', 2))ubottitnu):
net.connect('input', 'hidden')ubottitnu):
net.connect('co,next', 'hidden')ubottitnu):
net.connect('hidden', 'predic:ion')ubottitnu):
net.connect('hidden', 'motorOutput')tNo ifinu):
net.fetSuquenceType(',nydom-co,ninuous')
tit   
 x"ifinu):
net.initializC()G
 x"= nu):
net.fetVerbosity(0)G
 x"= nu):
net.fetInitCo,next(0)G
 x"= nu):
net.fetEpsilon(0.5)tNo ifinu):
net.fetMomentum(.1)tNo ifinu):
net.fetLear1.si(1)tubottitnu):
n.w.= [0]n x"titn.nnEtrays =-0ubottitnu):
,-tan =-0tNo ifinu):
cou,n--4= 0ubottitnu):
d= (Lear1.si =-0ubottitnu):
,-bst.ray,
Eunits ef'METERS'Gtit   n.nnEmaxv    x=0n.nnE,-bst.ray,
Eg0tMaxv    ()ubottitpri,n " Max v    : ",ns.nnEmaxv    
tit   
 x"ifinu):
plst10= Scat --()n x"titn.nnEplst1.fetTitle('trayslan.x
hotan')n x"titn.nnEplst20= Scat --()n x"titn.nnEplst2.fetTitle('hidden 0.x
hidden 1')n x"titn.nnEplst30= Scat --()n x"titn.nnEplst3.fetTitle('targetT.x
targetR')n x"titn.nnEpred.= Hin on(nu):
,-bst.ray,
Ecou,n,e(4):
 y"= y_blttitttitttttitle ef'Predic:ed.Inputs')n x"titn.nnEtarg.= Hin on(nu):
,-bst.ray,
Ecou,n,e(4):
 y"= y_blttitttitttttitle ef'Actu  iInputs')n x"titn.nnEco,nt= Hin on(2, title ef'Co,nexteLay--')ubottitnu):
hiddt= Hin on(2, title ef'Hidden Lay--')un x"o  ldestroy(f.nn)iubottitnu):
plst1.destroy()
tit   nu):
plst2.destroy()
tit   nu):
plst3.destroy()
tit   nu):
pred.destroy()
tit   nu):
targ.destroy()
tit   nu):
hidd.destroy()
tit   nu):
co,n.destroy()
tit   delinu):
net
tit   
 x"o  lscale(f.nnnnv  )iubottitreDnimx(v  i/tnu):
maxv    )titttittttt
t   
 x"o  lsep(f.nn)iubottitifnn.nnEcou,n--4> 10000nubottit   nu):
u= (Lear1.si =-1uit   = tts.):
net.fetLear1.si(0)G
 x"= el  nubottit   pri,n n.nnEcou,n--uubottit# nutttarget= itn x"tittarget_hotan =-0.5ubottitifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["-ro,n"]]) < .5:G
 x"=    target_trays =-0.0ubottittittarget_hotan =-0.0i# some"asymmetry aonmake thosis.in --estosiubottitelifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["back"]]) < .5:G
 x"=    target_trays =-1.0Gtit   el  nubottit   target_trays =-1.0Gtit   ifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["lef-"]]) < .2:G
 x"=    target_hotan =-0.0Gtit   elifnmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["rted:"]]) < .2:G
 x"=    target_hotan =-1.0Gtit   el  nubottit   px"=Gbottittarget.= [target_trays,target_hotan]ng x" it# pri,n "Raw sensor0d:
a: ",n[s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"tit#ipri,n "Co,nexteLay--: ",ns.nnEnet['co,next'].act.vationubottit#ipri,n "Hidden Lay--: ",ns.nnEnet['hidden'].act.vation

tit   nu):
co,n.u h:
 (f.nn
net['co,next'].act.vation)
tit   nu):
hidd.u h:
 (f.nn
net['hidden'].act.vation)
tit   ubottit# nuttuptinputs andnlear1ubottitifnn.nnEcou,n--4eefnnubottit   nu):
n.w.= [nu):
scale(f.dista c)()) -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"tit   #nu):
net.clearCo,next()t#ido o c)ubottitel  nubottit   old =tnu):
n.w.+ [nu):
trays,tnu):
,-tan] #trays andnr-tanubottit   nu):
n.w.= [nu):
scale(f.dista c)()) -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"tit   # pri,n n.nnEn.wG
 x"=    s.nnEnet.fep(tinpute=told, motorOutput =-target, predic:ion =tnu):
n.w.)ng x" it# r,fsG
 x"= n.nnEtrays =-f.nn
net['motorOutput'].act.vation[0]ubottitnu):
,-tan =-f.nn
net['motorOutput'].act.vation[1]

tit   nu):
mov ((nu):
trays - .5)/2.0, (n.nnE,-tan - .5)/2.0)Gubottitnu):
plst1.addPoin (n.nnEtrays,tnu):
,-tan)
tit   nu):
plst2.addPoin (n.nnEnet['hidden'].act.vation[0],e(4):
 y"= y_blttitttittttns.nnEnet['hidden'].act.vation[1])
tit   nu):
plst3.addPoin (target_trays, target_hotan)
tit   nu):
pred.u h:
 (f.nn
net['predic:ion'].act.vation)
tit   nu):
targ.u h:
 (f.nn
net['predic:ion'].target)uG
 x"= n.nnEcou,n--4+=i1uno  lINIT(engine)iubotreDnimxNNPredic:('NNPredic:', engine)ttit   
pyrobst/plugins/brains/NNRnydom.py0100755000076400003100000001320310263033112017212 0u  dblankfacy# A Neur  iNetwork-Braint# D.S. Blank

# ju reinforcement, 0p, now, without predic:ion

-rom pyrobst.braint-------Braint-rom pyrobst.brain.conxt-------*t-rom pyrobst.gui.plst.scat --4-------*
-rom pyrobst.gui.plst.hin ont-------*t-rom ,nydom -------,nydomg-rom aime -------sleep
-rom pyrobst.brain.fuzzyt-------*tn:
x"= Reinforce(Brain):G ):o  lfetup(f.nn)iubottit'''Init thenbrain, andncrn thennetwork'''Gtit   n.nnEnet =0SRN()
tit   nu):
sensorCou,n = nu):
,-bst.ray,
Ecou,nubott =nu):
net.add(Lay--('input', nu):
sensorCou,n+2))ubottitnu):
net.addCo,next(Lay--('co,next', 2), 'hidden')ubottitnu):
net.add(Lay--('hidden', 2))ubottitnu):
net.add(Lay--('motorOutput', 2))ubottitnu):
net.add(Lay--('sensorOutput', nu):
sensorCou,n))ubottitnu):
net.connect('input', 'hidden')ubottitnu):
net.connect('co,next', 'hidden')ubottitnu):
net.connect('hidden', 'motorOutput')tNo ifinu):
net.connect('hidden', 'sensorOutput')tubottitnu):
n.t.fetBatch(0)G
 x"= nu):
net.initializC()G
 x"= nu):
net.fetVerbosity(0)G
 x"= nu):
net.fetEpsilon(0.5)tNo ifinu):
net.fetMomentum(.1)tNo ifinu):
net.fetLear1.si(1)ttNo ifinu):
cou,n--4= 0ubottitnu):
d= (Lear1.si =-0ubottitnu):
maxv    x=0n.nnE,-bst.ray,
Eg0tMaxv    ()ubottitnu):
eurr_sensors.= [nu):
scale(f.dista c)()) -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"titn.nnEeurr_motors = [0.0,-0.0]
tit   nu):
target_trays =-1
tit   nu):
target_,-tan =-.5ubottitn.nnE
x"tf =-0ubottitnu):

x"tbesn = 0G
 x"= nu):
weted: = .5ubottitn.nnEdeltaw = .03
tit   
 x"ifinu):
plst4= Scat --(title ef'Reinforce andnPredic:',e(4):
 y"= y_blttitttittttnhistory = [100, 5, 5], linecou,n = 3,ubottit                    legend = ['Hidden', 'Motor Output', 'Motor Target'])G
 x"= nu):
pred.= Hin on(nu):
,-bst.ray,
Ecou,n,e(4):
 y"= y_blttitttitttttitle ef'Predic:ed.Inputs')n x"titn.nnEtarg.= Hin on(nu):
,-bst.ray,
Ecou,n,e(4):
 y"= y_blttitttitttttitle ef'Actu  iInputs')nn x"o  ldestroy(f.nn)iubottitnu):
plst.destroy()
tit   nu):
pred.destroy()
tit   nu):
targ.destroy()
tit   delinu):
net
tit    
 x"o  lscale(f.nnnnv  )iubottit'''scalenv   aonfall.between 0 andn1'''Gtit   reDnimx(v  i/tnu):
maxv    )

 x"o  lsep(f.nn)iubottit'''Gtit   enyrythositel  Gtit   .inputelatest sensor0andnmotor v    s aonnetworkGtit   .propagat Gtit   
mov  by"r,fositmotor outputGtit   
nutttarget= accordosi"ao.n.w.sensor0andnmotor v    sGtit   
backpropagat Gtit   ''' 
 x"ifipri,n n.nnEcou,n--ubottitubottitifnn.nnEd= (Lear1.sinubottit   nu):
net.fetLear1.si(0)G
 x"= el  nubottit   nu):
net.fetLear1.si(1)ttNo ifi# gath--4-nputs (latest sensors0andnmotor v    s)ubottitnu):
eurr_sensors.= [nu):
scale(f.dista c)()) -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"titinpute=t(nu):
eurr_sensors)iG
 x"= input.append(nu):
eurr_motors[0])G
 x"= input.append(nu):
eurr_motors[1])
tit   ubottit# nutt-nputsubottitifnn.nnEcou,n--4eefnnubottit   nu):
n.t.fetCo,next(.5)tNo ifinu):
net['input'].copyAct.vations(input)ng x" it# propagat ...tolsee whagnoutputewould betNo ifinu):
net.propagat ()ng x" it# mov  accordosi"ao.r,fositmotor outputsubottitn.xt_motors = f.nn
net['motorOutput'].act.vation[:]n x"tittrays =-(n.xt_motors[0] - .5)/2Gtit   rotan =-(n.xt_motors[1] - .5)/2Gtit   nu):
mov (trays,
hotan)G
 x"= n.nnEcurr_motors = n.xt_motors
tit   ubottit# nutttarget= basCd ontn.w.sensor0andnmotor v    sGtit   #    first set sensorOutput target=G
 x"= nleep(.1)tNo ifinu):
u h:
 ()ubottitn.xt_sensors.= [nu):
scale(f.dista c)()) -p,ns 0.0n.nnE,-bst.ray,
["all"]]n x"titn.nnEnet['sensorOutput'].copyTargets(n.xt_sensors)ng x" it# titn.xt set motorOutput target=G
 x"= #       dntermineefuzzytv    sGtit   n.xt_min = min([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["all"]])t
tit   dista c) = Fuzzy(0,.8) >> nu):
scale(n.xt_min) #used to be Fuzzy(0,1)tNo ifinpeed = Fuzzy(.1,.4) >> abs(n.xt_motors[0] - .5) #was Fuzzy(0,.5)tNo ififitness.= dista c) &inpeedubottiti--rov ment = Fuzzy(-.1, .3)}>> (fitness.-tn.nnE
x"tf)ubottitnu):
lx"tf =-fitnesst
tit   besn = fitness.|ti--rov mentubottit   G
 x"= #       dntermineeweted:s 0p,n,nydomnesstbottitif besn > .4nubottit   nu):
weted: /= 4G
 x"= elif besn -tn.nnE
x"tbesn >= .005nubottit   nu):
weted: /= 2G
 x"= elif besn -tn.nnE
x"tbesn <= -.005nubottit   nu):
weted: +=i1.5*n.nnEdeltawG
 x"= elif besn < .4nubottit   nu):
weted: +=tn.nnEdeltawuGtit   ifnnu):
weted: > .75nubottit   nu):
weted: = .75G
 x"= elif nu):
weted: tmaxRny,
:ubottit itifnnu):
blockedFro,niubottit it itreDnimx[0,tnu):
direc:ion *n,nyd]ubottitlttel  nubottit it itreDnimx[,nyd, ,nyd]ubottitelifnminRted:  1)nubottit itn.nnEco,n_cou,n +=i1u
 x"=    if(n.nnEco,n_cou,n > 20):e(4):
 y"= y_-p,ni 0.0,ay,
(10)nubottit ittit itdista c),tfreq, v    ,-a-tal, best, bestV    x=0n.nnE,-bst.frequency[0].resultsubottit  treDnimtbottitel  nubottit   nu):
co,n_cou,n = 0tbottit  tnu):
mem[nu):
sep_cou,n%10]x=0dista c)ubottit  tnu):
sep_cou,n +=i1u
 x"=    #pro----ionalubottit itdifft=-nu):
targetDista c) -0dista c)ubottit  t#pri,n diffubottit  t#in -gralubottit  tnu):
in -gralt+= diffubottit  t#derivat.veubottit  tnu):
derivt=-difft-tnu):
old_diffubottit  t#correc:ion amou,nubottit  tamou,nx=0(nu):
in -gralt*tnu):
igaint+-difft+0(nu):
deriv*nu):
dgain))t*tnu):
pgainu
 x"=    if((amou,nx>=-0) andn(amou,nx<=t19))nubottit ittitamou,nx+=i19ubottit itelif((amou,nx<-0) andn(amou,nx>ef-19))nubottit ittitamou,nx-=i19ubottit itamou,nx=0max(min(amou,n,-1.0), -1.0)G
 x"=    #pri,n dista c),tamou,n,-diff,tnu):
pgain,tnu):
igain,tnu):
dgainubottit  tnu):
old_amn = amou,nubottit  tn.nnE,-bst.mov Z(amou,n)G
 x"=    aime.nleep(.2)ubottittitnu):
,-bst.mov Z(0)t#.ok,.,-bst will do tmis"automat.callyG
 x"=    aime.nleep(.2)ubottittit#aime.nleep(nu):
dutyCyclet*tnu):
pulseTime)ubottit it#n.nnE,-bst.mov Z(0.0)G
 x"=    #aime.nleep(nu):
pulseTimet*0(1-nu):
dutyCycle))ubottittitnu):
old_difft=-diffu
:
x"= Search(Stan)it#.lookositthrough forward camera=to findna fiducialuboto  lonAct.vat (f.nn)iubottitnu):
robst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= nu):
,-bst.camera[3].addFilter("match", 245, 193,t188, 25) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[3].addFilter("superColor",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[3].addFilter("blobify",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[2].addFilter("match", 158, 110, 99, 25) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[2].addFilter("superColor",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[2].addFilter("blobify",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
h1x=0n.nnE,-bst.camera[2].meted:
x"=   nu):
h1Lx=0n.nnEh1/3
x"=   nu):
cou,ner = 0tbottituboto  lsep(f.nn)iubottitnu):
cou,ner +=i1u
 x"= x1, y1,tx2,ty2, matchesx=0n.nnE,-bst.camera[2].filterResults[2][0]ubott =ifnmatchesx> 100it#.FIX: boxeis"big enough?ubottittitnu):
goto('GotoBullseye')ubottittitreDnimtbottitifnmatchesx> 50it#.FIX: boxeis"big enough?ubottittitnu):
goto('Adva c)2Fid')ubottittitreDnimtbottitx1, y1,tx2,ty2, matchesx=0n.nnE,-bst.camera[3].filterResults[2][0]ubott =ifnmatchesx> 20nubottit   nu):
goto('Adva c)2Fid')ubottittitreDnimtbottitifn,nydom.,nydom() <-.3nubottit   ifnnu):
brain.,-bstCo,nrol:G
 x"=    tltnu):
,-bst.mov (.2, 0)t# tnimxto DxT.,ted:u
 x"=    tltaime.nleep(6)G
 x"=    tltnu):
,-bst.mov (0,t0)tbottitifn,nydom.,nydom() <-.3nubottit   ifnnu):
brain.,-bstCo,nrol:G
 x"=    tltnu):
,-bst.mov (0, -.2) # tnimxto DxT.,ted:u
 x"=    tltaime.nleep(.1)tbottit  itltnu):
,-bst.mov (0,t0)tbottit   tltaime.nleep(.3)G
 x"= elifnnu):
cou,ner > 100iubottit   nu):
cou,ner = 0tbottit   ifnnu):
brain.,-bstCo,nrol:G
 x"=    tltnu):
,-bst.mov (.5,0)t# go forwardtbottit   tltaime.nleep(1)tbottit  itltnu):
,-bst.mov (0,0)Gn:
x"= Adva c)2Fid(Stan)it#.mov xtowards Fiducialuboto  lonAct.vat (f.nn)iubottitnu):
robst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= ifnnu):
brain.,-bstCo,nrol:G
 x"=    nu):
,-bst.mov (1,0)G
 x"=    aime.nleep(1)ubottittitnu):
,-bst.mov (0,0)G oto  lsep(f.nn)iubottitnu):
goto('OrientFiducial')Gn:
x"= OrientFiducial(Stan)iuboto  lonAct.vat (f.nn)iubottitnu):
robst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= # usenfilters"below

 x"= nu):
cou,ner = 0tbottit  uboto  lsep(f.nn)iubottitnu):
cou,ner +=i1u
 x"= dista c) =-n.nnE,-bst.frequency[0].results[0]ubott =r1x=0n.nnE,-bst.camera[3].apply("grayScale")ubottitr2x=0n.nnE,-bst.camera[3].apply("orienta:ion", dista c))ubottitr3x=0n.nnE,-bst.camera[3].apply("superColor",t0)ubottitr4x=0n.nnE,-bst.camera[3].apply("blobify",t0)tbottitx1, y1,tx2,ty2, matchesx=0r4ubott =ifnmatchesx> 20nt#.FIX whateis"a good color?ubottittitnu):
goto("ReadFiducial")tbottittitreDnimtbottitx1, y1,tx2,ty2, matchesx=0n.nnE,-bst.camera[3].filterResults[3][0]ubott =cx, cyx=0(x1 + x2)/2, (y1 + y2)/2

 x"= ifnnu):
brain.,-bstCo,nrol:G
 x"=    ifncx <-n.nnE,-bst.camera[3].width/2: # need to Dnimxlef-u            nu):
mov (0, .2)G
 x"=  itel  n # tnimxsome ,ted:u
 x"=    tltnu):
mov (0, -.2)G
 x"=  itifncy <-n.nnE,-bst.camera[3].meted:/2: # need to backupu
 x"=    tltnu):
mov (-.2, 0)G
 x"=  itel  n # go forwardtbottit   tltnu):
mov (.2, 0)G
 x"= ifnnu):
cou,ner > 100iubottit   nu):
goto("Search")tbottittn:
x"= ReadFiducial(Stan)iuboto  lonAct.vat (f.nn)iubottitnu):
robst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= nu):
,-bst.camera[3].addFilter("fid",)t it#tdownviewubottitnu):
cou,ner = 0tbottitnu):
fidC1 = 0tbottitnu):
fidC2 = 0tbottitnu):
fidC3 = 0tbottit  uboto  lsep(f.nn)iubottit#.lookositifnover fiducialubottitnu):
h3x=0n.nnE,-bst.camera[3].meted:
x"=   #n.nnEw3x=0n.nnE,-bst.camera[3].widthubottitnu):
h3Ux=0n.nnEh3 -0(nu):
h3/3)ubottitnu):
h3Lx=0n.nnEh3 -0(2*(nu):
h3/3))tbottitnu):
fid3x,tnu):
fid3y,tnu):
fid3dots =nn.nnE,-bst.camera[3].filterResults[0]ubottG
 x"= ifnnu):
fid3y > nu):
h3Lxandnnu):
fid3y  5 p,nsu):
fidC2 > 5 p,nsu):
fidC3 > 5:G
 x"=    maxvalt=-max(nu):
fidC1,nsu):
fidC2,nsu):
fidC3)G
 x"=  itifnmaxvalt==nnu):
fidC1nubottit it itn.nnEbrain.map.decid (1)tbottit  itltnu):
goto('Adva c)2ft1')u
 x"=    elifnmaxvalt==nnu):
fidC2:G
 x"=    tltnu):
brain.map.decid (2)tbottit  itltnu):
goto('Adva c)2ft2')u
 x"=    elifnmaxvalt==nnu):
fidC3:G
 x"=    tltnu):
brain.map.decid (3)tbottit  itltnu):
goto('Adva c)2ft3')ubottittitnu):
FFcou,ner = 0tbottit   reDnimtbottit ttG
 x"= ifnnu):
cou,ner > 100iubottit   nu):
goto('Search')it#### putnr,Dnims"afner gotosubottitel  nubottit   nu):
cou,ner +=1Gn:
x"= Adva c)2ft1(Stan)iuboto  lonAct.vat (f.nn)iubottitnu):
robst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= ifnnu):
brain.,-bstCo,nrol:G
 x"=    nu):
,-bst.mov (0,0)t# stopG
 x"=    nu):
,-bst.mov (.2,0)t# go forward 2 f-u         aime.nleep(6)G
 x"=    nu):
,-bst.mov (0,0)G ot"=    nu):
,-bst.mov (0,.2) # tnimxlef-u         aime.nleep(2)ubottittitnu):
,-bst.mov (0,-.2) # stop tnimosiu         aime.nleep(.2)ubottittitnu):
,-bst.mov (.2,0)t# go forward a f.w.feetn         aime.nleep(6)G
 x"=    nu):
,-bst.mov (0,0)t# stopG
 xo  lsep(f.nn)iubottitnu):
goto('Search')Gn:
x"= Adva c)2ft2(Stan)iuboto  lonAct.vat (f.nn)iubottitnu):
robst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= ifnnu):
brain.,-bstCo,nrol:G
 x"=    nu):
,-bst.mov (0,0)t# stopG
 x"=    nu):
,-bst.mov (.2,0)t# go forward 2 f-u         aime.nleep(6)G
 x"=    nu):
,-bst.mov (0,0)t# stopG
 x"=    aime.nleep(1)ubottittitnu):
,-bst.mov (.2,0)t# go forward a f.w.feetn         aime.nleep(6)G
 x"=    nu):
,-bst.mov (0,0)t# stopG
 xo  lsep(f.nn)iubottitnu):
goto('Search')Gn:
x"= Adva c)2ft3(Stan)iuboto  lonAct.vat (f.nn)iubottitnu):
robst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= ifnnu):
brain.,-bstCo,nrol:G
 x"=    nu):
,-bst.mov (0,0)t# stopG
 x"=    nu):
,-bst.mov (.2,0)t# go forward 2 f-u         aime.nleep(6)G
 x"=    nu):
,-bst.mov (0,0)G ot"=    nu):
,-bst.mov (0,-.2) # tnimxlef-u         aime.nleep(2)ubottittitnu):
,-bst.mov (0,.2) # stop tnimosiu         aime.nleep(.2)ubottittitnu):
,-bst.mov (.2,0)t# go forward a f.w.feetn         aime.nleep(6)G
 x"=    nu):
,-bst.mov (0,0)t# stopG
 xo  lsep(f.nn)iubottitnu):
goto('Search')G x"=    n:
x"= Done(Stan)iuboto  lonAct.vat (f.nn)iubottitnu):
robst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 xo  lsep(f.nn)iubottitpri,n "We'rendone! Look_through window!"ubott =ifnnu):
brain.,-bstCo,nrol:G
 x"=    nu):
,-bst.mov (0,0)Gn:
x"= GotoBullseye(Stan)iuboto  lonAct.vat (f.nn)it#nmnthod called when act.vat d p,ngotond
x"=   nu):
,-bst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= nu):
,-bst.camera[3].addFilter("match", 245, 193,t188, 25) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[3].addFilter("superColor",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[3].addFilter("blobify",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[2].addFilter("match", 158, 110, 99, 25) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[2].addFilter("superColor",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[2].addFilter("blobify",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
cou,ner = 0tbottitnu):
lost = 0tuboto  lsep(f.nn)iubottitnu):
cou,ner +=i1u
 x"= ifnnu):
,-bst.camera[3].filterResults[2][0][4]x> 20nt#.matchesx///ubottit   nu):
goto("HoverBullseye")tbottittitreDnimtbottitx1, y1,tx2,ty2, matchesx=0n.nnE,-bst.camera[3].filterResults[2][0]ubott =cx, cyx=0(x1 + x2)/2, (y1 + y2)/2

 x"= ifnmatchesx== 0:G
 x"=    nu):
lost +=i1u
 x"= ifnnu):
lost > 20nubottit   nu):
goto("Search")tbottittitreDnimtbottitifnnu):
brain.,-bstCo,nrol:G
 x"=    ifncx <-n.nnE,-bst.camera[3].width/2: # need to Dnimxlef-u            nu):
mov (0, .2)G
 x"=  itel  n # tnimxsome ,ted:u
 x"=    tltnu):
mov (0, -.2)G
 x"=  itifncy <-n.nnE,-bst.camera[3].meted:/2: # need to backupu
 x"=    tltnu):
mov (-.2, 0)G
 x"=  itel  n # go forwardtbottit   tltnu):
mov (.2, 0)G
 x"= ifnnu):
cou,ner > 100iubottit   nu):
goto('Search')it#### putnr,Dnims"afner gotosuGn:
x"= HoverBullseye(Stan)iuboto  lonAct.vat (f.nn)it#nmnthod called when act.vat d p,ngotond
x"=   nu):
,-bst.camera[0].clearCallbackList()

 x"= nu):
,-bst.camera[2].clearCallbackList()

 x"= nu):
,-bst.camera[3].clearCallbackList()

 x"= nu):
,-bst.camera[3].addFilter("match", 245, 193,t188, 25) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[3].addFilter("superColor",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
,-bst.camera[3].addFilter("blobify",t0) #fro,ntview.look_-p,nrnd
x"=   nu):
sartTimet=-aime.aime()

 x"= nu):
lost = 0tx"= uboto  lsep(f.nn)iubottitifnaime.aime()t-tnu):
sartTimet>t15:ubottit   nu):
goto('Done')G x"=  el  nubottit   x1, y1,tx2,ty2, matchesx=0n.nnE,-bst.camera[3].filterResults[2][0]ubott =  =cx, cyx=0(x1 + x2)/2, (y1 + y2)/2

 x"=  = ifnmatchesx== 0:G
 x"=       nu):
lost +=i1u
 x"=  = ifnnu):
lost > 10:G
 x"=       nu):
goto('Search')itttttttttttu
 x"=  = ifnnu):
brain.,-bstCo,nrol:G
 x"=    tltifncx <-n.nnE,-bst.camera[3].width/2: # need to Dnimxlef-u               nu):
mov (0, .2)G
 x"=  it itel  n # tnimxsome ,ted:u
 x"=    tlt   nu):
mov (0, -.2)G
 x"=  it itifncy <-n.nnE,-bst.camera[3].meted:/2: # need to backupu
 x"=    tlt ltnu):
mov (-.2, 0)G
 x"=  it itel  n # go forwardtbottit   tlt ltnu):
mov (.2, 0)Gn:
x"= MyBrain(FSMBrain)iuboto  lsetup(f.nn)iubottitnu):
mapx=0Map()

 x"= nu):
,-bstCo,nrol = 0tx"=o  ldestroy(f.nn)iubottitnu):
map.destroy()

o  lINIT(engine)i # passes 0.0engine,tifn    need i:u
 xbraint= MyBrain("Blimpy", engine)G
 x# add a f.w.stansnubotbrain.add(Sart(1))ubotbrain.add(Mai,nai,Heted:())t# will always"be on afner Sart
titbrain.add(Search())ubotbrain.add(Adva c)2Fid())ubotbrain.add(OrientFiducial())ubotbrain.add(ReadFiducial())ubotbrain.add(Adva c)2ft1())ubotbrain.add(Adva c)2ft2())ubotbrain.add(Adva c)2ft3())ubotbrain.add(Done())ubotbrain.add(GotoBullseye())ubotbrain.add(HoverBullseye())ubotreDnimxbraintni l__name__x== "__main__"nubotmapx=0Map()
pyrobst/plugins/brains/BlimpImageTest.py0100644000076400003100000000160210427267560020423 0u  dblankfacy-rom pyrobst.braint-------Braint-------aimegn:
x"= BlimpBrain(Brain):
 oto  lsetup(f.nn)iubottitifnnot nu):
robst.hasA("camera")nubottit it#n.nnEfartDevice("Frequency")ubottit it#n.nnEfartDevice("V4LCamera0")ubottittitnu):
sartDevice("BlimpMovie")ubottit itn.nnEfartDevice("FourwayRot2")ubottit   nu):
,-bst.camera[1].addFilter("r-tan",)t#.backviewubottitti nu):
,-bst.camera[3].addFilter("fid")ubottit it#n.nnE,-bst.camera[3].addFilter("threshold",0,128,)ubottit it#n.nnE,-bst.camera[3].addFilter("threshold",1,128,)ubottit it#n.nnE,-bst.camera[3].addFilter("threshold",2,128,)ubottit it#n.nnE,-bst.camera[3].addFilter("threshold",11,20,)ubottit it#n.nnE,-bst.camera[3].addFilter("orienta:ion",1.0,)uuboto  lsep(f.nn)iubottit#n.nnE,-bst.camera[3].apply("orienta:ion",ubottit#n.nnE,-bst.frequency[0].results[0])ubottitpasstuo  lINIT(engine)iubotreDnimxBlimpBrain("BlimpBrain", engine)G
 x"= npyrobst/plugins/brains/VisionTest.py0100755000076400003100000000145110263033112017647 0u  dblankfacy-rom pyrobst.braint-------Braintno  lprocess(camera)iubotcamera.apply('match', 158 , 71 , 48 , )ubotcamera.apply('match', 225 , 129 , 89 , )ubotcamera.apply('match', 188 , 109 , 68 , )ubotcamera.apply("superColor",t1, -1, -1, 0)t# rgb weted:s, 0x=0red channelubotcamera.apply("threshold", 0,t50)t# red channel,t50 > 0ubotreDnimxcamera.apply("blobify",t0) #0red channelubot#nfilters"ca.0reDnimxv    s; stored imxcamera.filterReDnimV    gn:
x"= VisionBrain(Brain):
 oto  lsetup(f.nn)iubottitifnnot nu):
robst.hasA("camera")nubottit itnu):
camera==0n.nnE,-bst.fartDevice("V4LCamera0")ubottittitnu):
camera.addFilter(lprocess )G
 x"= nboto  lsep(f.nn)iubottit# do somethosi with DxT.camera=processed data:G
 x"= pri,n nu):
camera[0].filterResultstuo  lINIT(engine)iubotreDnimxVisionBrain('VisionTest', engine)Gnpyrobst/plugins/brains/Wander.py0100755000076400003100000000155510263033112016765 0u  dblankfacy# A-barenbrain

-rom pyrobst.braint-------Braintn:
x"= SimpleBrain(Brain):
 ot#lOnlylmethod     mulo  inee-s"axT.step.method:

 x"o  lsetup(f.nn)iubottit#ncrn any v rs     need meieubottitpassttx"=o  ldestroy(f.nn)iubottit#tifn    need tolo l p,ndestroy items,tdonit meieubottitpassttx"=o  lsep(f.nn)iubottit#n.nnE,-bst.mov (0, -.2) # negat.ve is to DxT.,ted:!ubottitpri,n "IR : ----------------------------"ubottitpri,n "Mintdista c):",nmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["all"]])ubottitpri,n "Maxtdista c):",nmax([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["all"]])uu# -------------------------------------------------------u# Th0seis"axT.in --face -p,ncallosit0rom"axT.guiEu# Takeslonetp r0, (axT.engine), andnr,Dnims"a-Brain object:u# -------------------------------------------------------uno  lINIT(engine)iubotreDnimxSimpleBrain("SimpleBrain", engine)G
 x"= npyrobst/plugins/brains/__init__.py0100755000076400003100000000000007447761623017315 0u  dblankfacypyrobst/plugins/brains/FuzzyPTZ.py0100755000076400003100000000332110263033112017263 0u  dblankfacy# A-Fuzzy Logic PTZxVision Trackeru# Uses Python-in -grat d Vision Sysemut-rom pyrobst.brain.fuzzy -------* t-rom pyrobst.brain.behaviorst-------* tn:
x"= BBB(BehaviorBasedBrain):
 ot=o  ldestroy(f.nn)iubottititpri,n "robst=",ns.nnErobstubottitits.nnEremov Device("ptz0")ubon:
x"= Track(Behavior): 
 ot=o  lsetup(f.nn)iubottit x# assumes"ahatea.camera=deviceeis"alrdytrunmosi!ubottit x# wendon't putnit meie,nso"ahate    ca.0load whateverubottit x# type ofucamera=    want: fake, blob, v4l,tetc.ubottitits.nnEcamera==0n.nnEcamera[0]ubottitits.nnEcamWidth==0n.nnEcamera[0].widthubottitits.nnEcamHeted:==0n.nnEcamera[0].meted:
x"= o  lu h:
 (f.nn)iubottit t#.matchea.reddish color:ubottitits.nnEcamera.apply("match", 144, 78, 76)G
 x"=   # super color.red:ubottitits.nnEcamera.apply("superColor",t1, -1, -1, 0, 128)G
 x"=   # blobify all red:ubottititblob==0n.nnEcamera.apply("blobify",t0, 255, 255, 0,t1, 1, 1)[0]ubottitit#nr,Dnims"x1, y1,tx2,ty2, areaubottititifnblob[4]x> 200:G
 x"=       cx =n(blob[0] +nblob[2])n/ 2G
 x"=       cy =n(blob[1] +nblob[3])n/ 2G
 x"=       n.nnEIF(Fuzzy(0, s.nnEcamWidth=) <<=cx, 'pan',   5.0, "pamxlef-") G
 x"=       n.nnEIF(Fuzzy(0, s.nnEcamWidth=) >>=cx, 'pan',  -5.0, "pamxrted:") G
 x"=       n.nnEIF(Fuzzy(0, s.nnEcamHeted:=) <<=cy, 'tilt',-5.0, "tilttdown") G
 x"=       n.nnEIF(Fuzzy(0, s.nnEcamHeted:=) >>=cy, 'tilt', 5.0, "tilttup") Gn:
x"= MyStan(Stan)it
 ot=o  lsetup(f.nn)iubottit xs.nnEadd(Track(1,t{'pan': 1, 'tilt': 1})) Gno  lINIT(engine)iubot ptz =nengineEfartDevice("ptz");t
 ot=braint= BBB({'pan' : ptz.panRel,e(4):
 y"= y_bltti'tilt': ptz.tiltRel,e(4):
 y"= y_bltti'u h:
 ' : engineErobst.u h:
  },e(4):
 y"= y_blttengine)t
 ot=brain.add(MyStan(1))t# makenit act.ve
 ot=reDnimxbrain npyrobst/plugins/brains/FSMPushPop.py0100755000076400003100000000533710263033112017513 0u  dblankfacy# A-FSMxs.quencositnampleu# D.S. Blank
u# Th0sePyrobst example will go (roughly) 0.0a square
u# Th0seexample has"awo.stans, "edge""ahategoes"strated:, andn"Dnim"u# ahateDnims"90=o grees to DxT.lef-. It bouncestback andnf---h betweenu# ahese"awo.stans.
u# No
  how it useslonAct.vat () to remember wmeie it was"when it
# farted imxbsth cases. It then mov s (forward or.to DxT.lef-) until
# it mas"mov d enough.
u# Exercisesllef- to reader:uu# 1. tmis"doesn't avoid obfacl s; whatemul    do to do tmat?uu# 2. tmis"reliestcompletely on odometry -p,nlocaliza:ion (ie,tit usesu# dead"reckomosi);twouldn't it be betner to add some type ofu# landmark-based sysem,tifnlandmarks arenavailable?uu# 3. Th0sedoesn't usenvery soph0st.cated behaviorst-p,ntnimosi or
#.movosi. It would be betner, foreexample,tifnDxT.tnimosi slowed down
#.when itngot closer to itsldesired angle. How would     do tmat?uu# 4. If=    wanted to Draversenatmap,=    would need tolhavenau# different stan foreeacheposi:ion imxDxT.map. Y   could get aroundu# ahateby usositthe onGoto() andnGoto() methods. But=    would havento
# makenthe next stan tolgotonatp r0,ener thate    pass im. Why?ut-rom pyrobst.geometry -------* it#ti------dista c) func:iont-rom pyrobst.brain.behaviorst-------Stan, FSMBrainGn:
x"= stuck(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
cou,n = 0tubot o  lu h:
 (f.nn)iubottit tnu):
cou,n +=i1u
 x"=  =pri,n "UNSTICKING!",ns.nnEcou,nubottit  ifnnu):
cou,n == 10:G
 x"=       nu):
pop()

 x"= bon:
x"= edge (Stan)iuubotto  lonAct.vat (f.nn)it#nmnthod called when act.vat d p,ngotond
x"=   itn.nnEfartX==0n.nnE,-bst.x
x"=   itn.nnEfartY==0n.nnE,-bst.yG
 x"=   ubot o  lu h:
 (f.nn)iubottit tx==0n.nnE,-bst.x
x"=   ity==0n.nnE,-bst.yG
 x"=   distx=0dista c)(tn.nnEfartX,tn.nnEfartY, x, y) G
 x"=   pri,n "EDGE: actualt=-(%f, %f) fartn=-(%f, %f); distx=0%f" \e(4):
 y"= y_bl%0(x, y,-n.nnEfartX,tn.nnEfartY, dist)ubottit  ifnnu):
,-bst.fall:G
 x"=    tltnu):
push()

 x"= bo tltnu):
goto('stuck')G x"=    elifndistx>-1.0:G
 x"=       nu):
goto('tnim')G x"=    el  nubottit    ltnu):
mov (.3, 0)Gn:
x"= Dnimx(Stan)iuubotto  lonAct.vat (f.nn)i
x"=   itn.nnEth==0n.nnE,-bst.thtubot o  lu h:
 (f.nn)iubottit tth==0n.nnE,-bst.tht
 x"=   pri,n "TURN: actualt=-%f fartn=-%f" % (ax,tn.nnEth)ubottit  ifnnu):
,-bst.fall:G
 x"=    tltnu):
push()t#ncurrent stannameeis"o  a;G
 x"=    tlt# ca.0also"aakenanotmeitstannameeto retnimxto

 x"= bo tltnu):
goto('stuck')G x"=    elifn(axt-tnu):
th) % 360 > 90: G
 x"=       n.nnEgoto('edge')G x"=    el  nubottit    ltnu):
mov (0, .2)G
o  lINIT(engine)i # passes 0.0engine,tifn    need i:u
 x=braint= FSMBrain("Push Pop", engine)G
 x"# add a f.w.stansnubot=brain.add(edge(1))ubot=brain.add(tnim())ubot=brain.add(stuck())ubot=reDnimxbraintpyrobst/plugins/brains/CleanUp.py0100644000076400003100000000065710263033112017073 0u  dblankfacy# A-Pyrobst braintto cleanlu "awo.roomsu# Afner Russell andnNorvig AIMA

-rom pyrobst.braint-------Braintn:
x"= CleanUp(Brain):
 ot = uboto  lsep(f.nn)iubottitifnnu):
,-bst.fatusx== "dirty":G
 x"=    nu):
,-bst.mov ("suck")ubottitelifnnu):
,-bst.loca:ion == "A":G
 x"=    nu):
,-bst.mov ("rted:")ubottitelifnnu):
,-bst.loca:ion == "B":G
 x"=    nu):
,-bst.mov ("lef-")uno  lINIT(engine)iubotreDnimxCleanUp('AIMA', engine)G
 x"= npyrobst/plugins/brains/TrackBall.py0100644000076400003100000000415010426372772017416 0u  dblankfacy-rom pyrobst.braint-------Braintn:
x"= TrackBall(Brain):

 ot=o  lsetup(f.nn)iubottit xs.nnEcamx=0n.nnE,-bst.camera[0]ubottitits.nnEptz =nn.nnE,-bst.ptz[0]ubottitits.nnEptz.setPose(0,t0, 0)G
 x"=  i#s.nnEcam.addFilter("matchList", 229, 68, 164, 234, 18, 129, 0)G
 x"=  is.nnEcam.addFilter("match", 229, 68, 164)G
 x"=  is.nnEcam.addFilter("match", 234, 18, 129)G
 x"=  is.nnEcam.addFilter("blobify",0,255,255,0,1,1,1,)

 x"= bo tltt = ubot=o  ldestroy(f.nn)iubottitits.nnEcam.clearFilters()u
titto  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatblob=0.0nted:u"= y_blttitttittx1, y1,tx2,ty2, areax=0results[-1][0]u"= y_blttitttittifnareax>t25:e(4):
 y"= y_blttiiiicen --X,tcen --Yx=0(x1 + x2)/2, (y1 + y2)/2

 x"=  =            posex=0n.nnEptz.posex# p,t,z,r

 x"=  =            #pri,n "cen --:",n(cen --X,tcen --Y)

 x"= bo tltt =     # ---------------------------------

 x"= bo tltt =     difft=-(cen --X -0(nu):
cam.width/2))

 x"= bo tltt =     ifnabs(diff) <-(.1t*tnu):
cam.width)nubottit ittit it         passtit ittit it         elifndifft< 0:G
 x"=        tltt =     # negat.ve is rted:, posi:ive is lef-u                        n.nnEptz.pan( pose[0] +n.05) G
 x"=               el  nubottit    lt            n.nnEptz.pan( pose[0] -n.05) G
 x"=               # ---------------------------------

 x"= bo tltt =     difft=-(cen --Yt-tnu):
cam.meted:/2) G
 x"=               ifnabs(diff) <-.1t*tnu):
cam.meted:nubottit ittit it         passtit ittit it         elifndifft< 0:t#tdownubottit    lt            n.nnEptz.tilt( pose[1] +n.05) # posi:ive is lef-u                    el  nubottit    lt            n.nnEptz.tilt( pose[1] -n.05) # negat.ve is rted:ubottit    lt        e(4):
 y"= y_blttel  nubottit    lt        n.nnEptz.cen --()t#pri,n "nearchosi..."ubott =lt        e(4):
 y"= y_el  nubottit    lt    n.nnEptz.cen --()t#pri,n "nearchosi..."uno  lINIT(engine)iubot engineErobst.requires("ptz")ubot engineErobst.requires("camera")ubot=reDnimxTrackBall("Tracker", engine)G
 x"= npyrobst/plugins/brains/KonanePlayer.py0100644000076400003100000001206310270502663020140 0u  dblankfacy"""
Th0semodule co,nainsea.c
x"= ofea.rnydom Konane Player.
Thenbrain KonanePlayer=progr0, plays"a.rnydom gameeofeKonane.
"""

-rom pyrobst.braint-------Braint-------aime,.rnydomuno  lotmeiPiece(piece)iubot """ Whateis"the opponen 's shape? """ubot ifnpiece == 'O':=reDnimx'X'
= y_el  n=reDnimx'O'uno  lgetEmpties(board)iubot """ R,Dnims"alleofeaxT.emptyeposi:ionslon board. """ubot reDvalt=-[]u"= y-p,ni 0.0,ay,
(8)nubottit i-p,nj 0.0,ay,
(8)nubottit ibot ifnboard[i][j] == ''nubottit    lt    reDval.append( (i+1,tj+1) )ubot=reDnimxreDvaluno  ladd(pos,eoffset)iubot """ Adds"awo.boardeposi:ionsltogetmeit"""ubot reDnimx(pos[0] +noffset[0], pos[1] +noffset[1])uno  lvalidPos(pos,eoffsett=-(0,0))iubot """ Is tmis"posi:ion +noffset"a.valid.boardeposi:ion?"""ubot newx, newy==0add(pos,eoffset)ubot reDnimx(newxx>ef1 andnnewxx<= 8 andnnewyx>ef1 andnnewyx<= 8)uno  lmov Generator(board, myPiece, firstMov )iubot """Generatesllegaltboardemov s. Doesn't findnmiple-jumps. """ubot reDvalt=-[]u"= yemptiest=-getEmpties(board)ubot ifnfirstMov nubottit  ifnlen(empties)x== 0: # I'mnfirst!ubottit ibot ifnmyPiece == "O"nubottit    lt    reDval.extend( [(4,4), (5,5), (1,1), (8,8)] )e(4):
 y"= y_el  nubottit    lt    reDval.extend( [(5,4), (4,5), (1,8), (8,1)] )e(4):
 y"el  n # I'mnseco,dtbottit   tlt# get onetofeaxT.4 (p,nless)xsurroundositpiecestit ittit it openPos =nempties[0] # betner be julonetit ittit it -p,ni,j 0.0[(-1,0), (+1,0), (0, -1), (0, +1)]nubottit    lt    i lvalidPos(openPos, (i,j))nubottit ittit  lt    reDval.append( add(openPos, (i,j)) )e(4):el  nubottit  # findnallemov s, andnadd axTmtto lis:u
 x"=   -p,ni 0.0,ay,
(1,9):e(4):
 y"= y_-p,nj 0.0,ay,
(1,9):e(4):
 y"= y_    i lboard[i-1][j-1] == myPiecenubottit ittit  lt    -p,na,b 0.0[(0, -2),(+2,-2), (+2, 0),(+2, +2),ubottit    lt                    (0, +2),(-2, +2),(-2, 0),(-2, -2)]nubottit    lt            p, q =ni,tjt  # a fartositplaceubottit    lt            mov x=-[i,tj] # firsttp rttofemov ubottit    lt            while 1:t# still jumpstto makeubottit    lt                i lvalidPos((p,q), (a,b))nubottit ittit  lt                x,y==0add((p,q),(a,b))ubottit ittit  lt                i lboard[x-1][y-1] == ''nubottit    lt                        bx, by==0add( (p,q), (x,y) )ubottit ittit  lt                    bx, by==0bx/2, by/2

 x"=  =                            i lboard[bx-1][by-1] == otmeiPiece(myPiece)nubottit ittit  lt                        mov .extend( [x,y] )e(4):
 y"= y_____________________________# jump some more?e(4):
 y"= y_____________________________p, q =nx, ye(4):
 y"= y_________________________el  nubottit    lt                            breakubottit    lt                    el  nubottit    lt                        breakubottit    lt                el  nubottit    lt                    breakubottit    lt            ifnlen(mov ) > 2nubottit    lt                reDval.append( mov x)ubot=reDnimxreDvaluno  l-p,matMov (mov )iubot """ Fp,mats"a.lis:tofeposi:ionsli,nonatjump() frosi. """ubot mov str = "jump(%d,%d" % (mov [0], mov [1])ubottwhile 1:ubottit  x1, y1,tx2,ty2t=-mov [:4]u"= y_bltmov str += ",%d,%d" % (x2,ty2)u"= y_bltmov t=-mov [2:]u"= y_bltifnlen(mov ) < 4nubottit    ltbreakubottmov str += ")"ubot reDnimxmov strtn:
x"= KonanePlayer(Brain):
 ot """ubot A simple Rnydom Konane Player. No
  ahateDxT.,eptofeboardeistit izero-based, but"alleotmeitplaceseis"one'stbased.ubottFp, usenwith PyrobstSimator andnKonaneWorld.py andubottPyrobstR-bst.py (a TCPR-bst -rom pyrobst/robst/symbolic.py)
 ot """ubot o  lsetup(f.nn)iubottit xifnnu):
,-bst.id.== 0:G
 x"=       nu):
myPiece = "O"e(4):
 y"el  nG
 x"=       nu):
myPiece = "X"e(4):
 y"nu):
firstMov  =i1u
 x"=  =nu):
tnimx=i1u
 x"=  =pri,n "Welcomeeto Konane, Hawaiian Checkers!"u
 x"=  =pri,n "Red O p,nXlon DxT.boardeindocateslahateit"u
 x"=  =pri,n "islahateshape's"mov ."u
 x"=  =pri,n "Jumpstmuloccur 0.0a strated:.lin ."u
 x"=  =pri,n "A human ca.0play, p,nsartnawo.Pyrobst's"up,"u
 x"=  =pri,n "andnco,neclonto Dwo.different ----s usosi"u
 x"=  =pri,n "PyrobstR-bst60000 andnPyrobstR-bst60001."unbot o  lsep(f.nn)iubottitotifnnu):
,-bst.whosMov  !=nnu):
,-bst.idnG
 x"=       aime.nleep(1)tbottit  itltreDnimtbottit tboarde=nnu):
,-bst.boardu"= y_bltmov st=-mov Generator(board, nu):
myPiece,"nu):
firstMov )e(4):
 y"nu):
firstMov  =i0u"= y_bltifnlen(mov s) > 0:tbottit   tlt# Heie is wmeie     would go_through DxT.possibletbottit   tlt# mov standnpick DxT.belone.tbottit   tlt# I'mnjulgoosittonpick a.rnydom one:tbottit   tltmov t=-mov s[i,n(len(mov s) *n,nydom.,nydom())]u"= y_blttittifnlen(mov ) == 2:t#nr,mov xtxT.pieceubottit    lt    n.nnE,-bst.play("r,mov (%d,%d)" % mov )e(4):
 y"""""""""pri,n nu):
Dnim, "r,mov (%d,%d)" % mov ubottit    lt    n.nnE,-bst.play("done")e(4):
 y"= y_el  n_# jumpstit ittit it     mov str = -p,matMov (mov )e(4):
 y"""""""""pri,n nu):
Dnim, mov strtbottit    lt    n.nnE,-bst.play(mov str)e(4):
 y"""""""""n.nnE,-bst.play("done")e(4):
 y"= y_nu):
tnimx+=i1u
 x"=  =el  nG
 x"=       pri,n "Y   win!"e(4):
 y"= y_nu):
pleaseStop()t#nr,quelto stop runmosinbrain

o  lINIT(engine)iubot reDnimxKonanePlayer("Rnydom Konane Player", engine)Gpyrobst/plugins/brains/NNFindBlob.py0100644000076400003100000000654510343370044017470 0u  dblankfacy#-Brain used imxconjunc:ionnwith GAFindBlobNN.py to crn a robstu# ahatechases afner red objects.
u# NeDwork imputs: 8u# 4 virtualtsona,nsunsorstandn4tpieces ofucolor.blob=0.foEu# Sona,nv    s arenDxT.minimms ofufour groups:u# back, fro,n-lef-, fro,n-rted:, andnfro,n.
u# Theucolor.blob=0.foxconsis:stofeaxT.,ay,
tto closelblob,u# andn3 nodes wmich codn foredirec:ionnofeaxT.closelblob:u# 100=lef-, 010=cen --, 001=rted:, andn000=none.t# Alleimputs arenscaled between 0 andn1.
u# NeDwork outputs: 2u# T,aysln and r-tan.

-rom pyrobst.braint-------Braint-rom pyrobst.brain.conx -------*t-rom aime -------*tu# Theurobst will get Draysln and r-tannv    s imxDxT.,ay,
t[-0.5,0.5],u# but"the neuraltneDwork will generate outputs imxDxT.,ay,
t[0,1].
o  ltoNeDworkUnits(v  )iubotreDnimx(v   + 0.5)uno  ltoR-bstUnits(v  )iubotreDnimx(v   - 0.5)un:
x"= NNBrain(Brain):
 oto  lsetup(f.nn, **args)iubottitnu):
nett=-NeDwork()

 x"= nu):
net.addThreeLayers(8,6,2)

 x"= nu):
net.setLeaimosi(0)G
 x"= ifnnot nu):
robst.hasA("camera")nubottit it# Assume-Stage,"wmich useslDxT.BlobCamera:G
 x"=    nu):
,-bst.sartDevice("BlobCamera")ubottit   nu):
,-bst.camera[0].addFilter("match", 255, 0,t0)G ot"=    nu):
,-bst.camera[0].addFilter("blobify",0,255,255,0,1,1,1,)

 x"= n.nnE,-bst.ray,
.units = ",eners"

 x"= n.nnE,-bst.ray,
.setMaxvalue(4.5) # about"as fa,nas sona,nca.0see 0.0,oom

 x"= n.nnE,-bst.ray,
.units = "scaled"

 x"= n.nnEcou,ner = 0tbottitnu):
currentImputs = [0] * 8u
 oto  lgetBlobI.fo(f.nn, (x1, y1,tx2,ty2, pixel ))nubottitblobLef-, blobCen --, blobRted:==0(0.0, 0.0, 0.0)G
 x"= ifn(x1, y1,tx2,ty2) == (0.0, 0.0, 0.0, 0.0):G
 x"=    reDnimx0.0, blobLef-, blobCen --, blobRted:
tit it# how closeeis"the blob? how much ofeaxT.view.does itnoccupy?ubottitblobRay,
t= (y2 - y1)n/ float(nu):
,-bst.camera[0].meted:)
tit it# wmeie is"the blob imxDxT.image?ubottitcen --x=0(x2 + x1)n/ 2.0
tit it# is itnimxDxT.lef- third of.view?G
 x"= ifncen --x<-n.nnE,-bst.camera[0].width/3.0: # lef- thirdG
 x"=    blobLef-x=i1.0
tit it# rted: third?G
 x"= elifncen --x> 2.0t*tnu):
,-bst.camera[0].width/3.0: # rted: thirdG
 x"=    blobRted:==01.0
tit it# mulbe 0.0cen --G
 x"= el  nG
 x"=    blobCen --==01.0
tit itreDnimxblobRay,
, blobLef-, blobCen --, blobRted:

 oto  lgetImputs(f.nn)iubottit#tget minimmnv    s foreeacheareanubottitback = nmin([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["back"]])ubottitlef- t=-min([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["fro,n-lef-"]])ubottitfro,nt=-min([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["fro,n"]])ubottitrted:==0min([s.dista c)() -p,ns 0.0n.nnE,-bst.ray,
["fro,n-rted:"]])ubottitblobListx=0n.nnE,-bst.camera[0].filterResults[1]G
 x"= ifnblobListx !=n[]nG
 x"=    blobRay,
, blobLef-, blobCen --, blobRted: x=0n.nnEgetBlobI.fo(blobList[0]) # biggelblobtbottitnu):
currentImputs = [back, lef-, fro,n, rted:, blobRay,
, blobLef-, blobCen --, blobRted:]tbottitnu):
net['imput']EcopyAct.vations(nu):
currentImputs)

 oto  lgetOutputs(f.nn)iubottitDraysln =ltoR-bstUnits(nu):
net['output']Eact.vation[0])ubottitr-tann=ltoR-bstUnits(nu):
net['output']Eact.vation[1])ubottitretnimxtraysln,tr-tanttx"=o  lsep(f.nn)iubottitpri,n "adap --=islsepposi"u
 x"= n.nnE,-bst.u h:
 ()

 x"= n.nnEgetImputs()

 x"= nu):
net.propag:
 ()

 x"= traysln,tr-tanx=0n.nnEgetOutputs()

 x"= nu):
mov (traysln,tr-tan)

 x"= nu):
cou,ner +=i1uno  lINIT(engine)iubotreDnimxNNBrain('NNBrain', engine)Gpyrobst/plugins/brains/AiboFindBall.py0100644000076400003100000005064510426372772020037 0u  dblankfacy"""uAuthor: Ioana Butoi
Dan: Apr 2005

Project: Findnatball andnkick iltowards"a.goal
R-bst: Aibo ERS-7
 
No
 : Complete Behaviornbrain
 1. FindnBall
 2. Kick ball intdirec:ionnofeaxT.goal
 3. Checktifn    scornd
x4. Mov  tailtifn    scornd

"""

-rom pyrobst.brain.behaviorst-------*t-rom aime -------nleept-------rnydomunmatchBallx=025nmatchGoalt=-40u"= y_bltn:
x"= R-bstVsR-bstSoccer(FSMBrain)iubot o  lsetup(f.nn)iubottit xifnnu):
hasA("camera")nubottit it"= nu):
camx=0n.nnE,-bst.camera[0]ubottititel  nG
 x"=       raiseeAttributeError, "r,quiresea.camera"e(4):
 y"camera==0n.nnEcam # local v riabletbottit  ifnnu):
hasA("ptz"):G
 x"=    tltnu):
ptz =nn.nnE,-bst.ptz[0]ubottititel  nG
 x"=       raiseeAttributeError, "r,quiresea.ptz"G
 x"=   #.goalnfiltere(4):
 y"camera.addFilter("match",32,102,52,30,2,)t#.green.goal
 4):
 y"camera.addFilter("match",65,165,67,30,2,)t#.grean.goal
 4):
 y"camera.addFilter("match",31,143,45,30,2,)t#.green.goal
 4):
 y"camera.addFilter("blobify",2,255,255,0,1,1,1,)#b   lblobtbottit  n.nnEgoalt=-3u"= y_bltn
 x"=   #.ball filtere(4):
 y"camera.addFilter("match",248,14,73,)

 x"= bocamera.addFilter("match",237,75,116,)

 x"= bocamera.addFilter("match",247,115,138,)

 x"= bocamera.addFilter("match",237,165,166,)

 x"= bocamera.addFilter("blobify",0,255,255,0,1,1,1,) #0red blobtbottit  n.nnEballx=08unbot o  ldestroy(f.nn)iubottitits.nnEcam.clearFilters()u
:
x"= approachBall(Stan)iubott"""ubot When a ball is=0.0nted:,tget closeeto it
 ot """ubot o  lonAct.vat (f.nn)i
x"=   itn.nnEspeed =x0.05u
 x"=  =nu):
tnimSpeed =x0.1u
 x"=  =nu):
headMaxTnimx=i0.3u"= y_bltpri,n "APPROACH"unbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatblob=0.0nted:u"= y_blttitttittx1, y1,tx2,ty2, areax=0results[n.nnEbrain.ball][0]u"= y_blttitttittcen --X,tcen --Yx=0(x1 + x2)/2, (y1 + y2)/2

 x"=  =        ifnareax>tmatchBallnubottit    lt        posex=0n.nnE,-bst.ptz[0].posex# p,t,z,r; actsnas a.pointere(4):
 y"""""""""""""# 1. cen --xcamera=on ball
 4):
 y"""""""""""""# ---------------Xtdirec:ion------------------

 x"= bo tltt =     difft=-(cen --X -0(nu):
,-bst.camera[0].width/2))

 x"= bo tltt =     ifnabs(diff) <-(.1t*tnu):
,-bst.camera[0].width)nubottit ittit it         passtit ittit it         elifndifft< 0:G
 x"=        tltt =     # negat.ve is rted:, posi:ive is lef-u                        n.nnE,-bst.ptz[0].pan( pose[0] +nn.nnEspeed) G
 x"=               el  nubottit    lt            n.nnE,-bst.ptz[0].pan( pose[0] -nn.nnEspeed) G
 x"=               # ---------------Ytdirec:ion------------------

 x"= bo tltt =     difft=-(cen --Yt-tnu):
,-bst.camera[0].meted:/2) G
 x"=               ifnabs(diff) <-.1t*tnu):
,-bst.camera[0].meted:nubottit ittit it         passtit ittit it         elifndifft< 0:t#tdownubottit    lt            n.nnE,-bst.ptz[0].tilt( pose[1] +nn.nnEspeed) # posi:ive is lef-u                    el  nubottit    lt            n.nnE,-bst.ptz[0].tilt( pose[1] -nn.nnEspeed) # negat.ve is rted:ubottit    lt        # 2. get closer to ball
 4):
 y"""""""""""""ifnabs(pose[0]) > nu):
headMaxTnim:G
 x"=        tltt =     # 2.1tr-tanxso ball is=0.0fro,ntofn   G
 x"=        tltt =     if pose[0] > 0:tbottit   tlt  lt            n.nnE,-bst.mov (0,nu):
tnimSpeed)e(4):
 y"= y_________________n.nnE,-bst.ptz[0].pan(pose[0] -nn.nnEspeed)e(4):
 y"= y_____________el  nubottit    lt                n.nnE,-bst.mov (0,-nu):
tnimSpeed)e(4):
 y"= y_________________n.nnE,-bst.ptz[0].pan(pose[0] +nn.nnEspeed)e(4):
 y"= y_________elifnarea<300:G
 x"=                   # 2.2 get closer to ball
 4):
 y"""""""""""""    n.nnE,-bst.mov (0.7,0)e(4):
 y"= y_________el  nubottit    lt            # 3. when closeeenoughnkick i
 4):
 y"""""""""""""    n.nnEgoto("lookForGoal")e(4):
 y"= y_____________reDnimtbottit t________el  nubottit    lt        n.nnEgoto("lostBall",tcen --X,tcen --Y)e(4):
 y"= y_________reDnimtbottit t____el  nubottit    lt    n.nnEgoto("nearchDown")ubottit    lt    reDnimtbottit tel  nG
 x"=       nu):
goto("nearchDown")ubottit    ltreDnimtbottit tu
:
x"= lostBall(Stan)iubott"""ubot Ballemov d outtofemy0nted:. I think I know wmeie it went
 ot """ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.mov (0,0)G
 x"=  is.nnEspeed =x0.1u
 x"=  =pri,n "LOST"uubotto  lonGoto(f.nn, args)iubottit  n.nnEbrain.ballCen --X = args[0]ubottitits.nnEbrain.ballCen --Y = args[1]ubottititnbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatblob=0.0nted:u"=              x1, y1,tx2,ty2, areax=0results[n.nnEbrain.ball][0]u"= y_blttitttittifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"= y_________reDnimtbottit tposex=0n.nnE,-bst.ptz[0].pose# p,t,z,r; actsnas a.pointere(4):
 y"diffX = abs(nu):
brain.ballCen --X -tnu):
,-bst.camera[0].width/2)e(4):
 y"diffY = abs(nu):
brain.ballCen --Yt-tnu):
,-bst.camera[0].meted:/2)tbottitotifndiffX >"diffYnG
 x"=       animDirVer = 0tbottittttttt# need to nearch horizo,nallyu
 x"=    tltifn(nu):
brain.ballCen --X >tnu):
,-bst.camera[0].width/2)nubottit    lt    # rted:ubottit    lt    animDirHor = -1ubottit    ltel  nubottit    lt    # lef-u                animDirHor = 1u
 x"=  =el  nG
 x"=       animDirHor = 0u
 x"=    tltifn(nu):
brain.ballCen --Y >tnu):
,-bst.camera[0].width/2)nubottit    lt    # downubottit    lt    animDirVer = -1ubottit    ltel  nubottit    lt    animDirVer = 1u
 x"=  =nu):
,-bst.ptz[0].pan(pose[0]+ animDirHor*n.nnEspeed)e(4):
 y"n.nnE,-bst.ptz[0].tilt(pose[1] +nanimDirVer*n.nnEspeed)e(4):
 y"ifn(((pose[0] ==01.0 p,npose[0] ==0-1.0) andnanimDirVer ==t0) ore(4):
 y"""""((pose[1] ==0-1.0 p,npose[1] ==00.0) andnanimDirHor ==t0)):G
 x"=    tltnu):
goto("nearchDown")un:
x"= searchDown(Stan)iubott"""ubot Search s forethe balleby.tnimosi the head downubott"""ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.ptz[0].cen --()G
 x"=  is.nnEspeed =x0.1u
 x"=  =pri,n "DOWN"G
 x"=   nbot o  lsep(f.nn)iubottitotposex=0n.nnE,-bst.ptz[0].poseubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatblob=0.0nted:u"=              x1, y1,tx2,ty2, areax=0results[n.nnEbrain.ball][0]u"= y_blttitttittifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"= y_________reDnimtbottit tn.nnE,-bst.ptz[0].tilt(pose[1] -nn.nnEspeed)e(4):
 y"ifn(pose[1] < -0.9):e(4):
 y"= y_nu):
goto("nearchLef-Rted:")un:
x"= searchLef-Rted:(Stan)iubott"""ubot Search s forethe balleby.tnimosi the head lef--rted:ubott"""ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.ptz[0].tilt(-0.1)tbottit  nleep(1)tbottit  nu):
,-bst.ptz[0].pan(1.0)G
 x"=  is.nnEspeed =x0.05u
 x"=  =pri,n "L -nR"uunbot o  lsep(f.nn)iubottitotposex=0n.nnE,-bst.ptz[0].poseubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatblob=0.0nted:u"=              x1, y1,tx2,ty2, areax=0results[n.nnEbrain.ball][0]u"= y_blttitttittifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"= y_________reDnimtbottit tn.nnE,-bst.ptz[0].pan(pose[0] -nn.nnEspeed)e(4):
 y"ifn(pose[0] ==0-1.0):e(4):
 y"= y_nu):
goto("nearchRted:Lef-")unun:
x"= searchRted:Lef-(Stan)iubott"""ubot Search s forethe balleby.tnimosi the head rted:-lef-u    """ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.ptz[0].tilt(-0.6)tbottit  nleep(0.5)ubottit tn.nnE,-bst.ptz[0].pan(-1.0)G
 x"=  is.nnEspeed =x0.05u
 x"=  =pri,n "R -nL"unbot o  lsep(f.nn)iubottitotposex=0n.nnE,-bst.ptz[0].poseubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatblob=0.0nted:u"=              x1, y1,tx2,ty2, areax=0results[n.nnEbrain.ball][0]u"= y_blttitttittifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"= y_________reDnimtbottit tn.nnE,-bst.ptz[0].pan(pose[0] +nn.nnEspeed)e(4):
 y"ifn(pose[0] ==01.0):e(4):
 y"= y_nu):
goto("nearchDynamic")u
titttttttttttttttu
tittttttn:
x"= searchDynamic(Stan)iubott"""ubot Search s forethe balleby.spinmosinintplaceubott"""ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.ptz[0].cen --()G
 x"=  is.nnE,-bst.ptz[0].tilt(-0.1)tbottit  nu):
cou,ner =i0u"= y_bltifn,nydom.,nydom() > 0.5: # ,nydomizenDxT.tnimtdirec:ione(4):
 y"= y_nu):
tnimSpeed =x0.2

 x"=  =el  nG
 x"=       nu):
tnimSpeed =x-0.2

 x"=  =ttttnbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatblob=0.0nted:u"=              x1, y1,tx2,ty2, areax=0results[n.nnEbrain.ball][0]u"= y_blttitttittifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"= y_________reDnimtbottit tn.nnEcou,ner +=1tbottitotifnnu):
cou,ner == 50:# afner 360 chay,
tthe angleG
 x"=       nu):
,-bst.ptz[0].tilt(-0.5)ubottit tn.nnE,-bst.mov (0.0,nu):
tnimSpeed)en:
x"= prepareToKick(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.mov (0,0)G
 x"=  is.nnE,-bst.playSound("mew")G
 x"=  is.nnEspeed =x0.05u
 x"=  =nu):
tnimSpeed=x0.1u
 x"=  =nu):
tnimHeadMimx=i0.4u
 x"=  =nu):
tnimHeadMaxx=i0.5u
 x"=  =pri,n "PREPARE TO KICK"unbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[n.nnEbrain.ball][0]u"= y_blttitttittifnarea> 50:e(4):
 y"= y_________# 1.cen --xDxT.imagee(4):
 y"= y_________cen --X,tcen --Yx=0(x1 + x2)/2, (y1 + y2)/2

 x"=  =            posex=0n.nnE,-bst.ptz[0].posex# p,t,z,re(4):
 y"= y_________# ---------------Xtdirec:ion------------------

 x"= bo tltt =     difft=-(cen --X -0(nu):
,-bst.camera[0].width/2))

 x"= bo tltt =     ifnabs(diff) <-(.1t*tnu):
,-bst.camera[0].width)nubottit ittit it         passtit ittit it         elifndifft< 0:G
 x"=     y"= y_________# negat.ve is rted:, posi:ive is lef-u                        n.nnE,-bst.ptz[0].pan( pose[0] +nn.nnEspeed) G
 x"=               el  nubottit    lt            n.nnE,-bst.ptz[0].pan( pose[0] -nn.nnEspeed) G
 x"=               # ---------------Ytdirec:ion------------------

 x"= bo tltt =     difft=-(cen --Yt-tnu):
,-bst.camera[0].meted:/2) G
 x"=               ifnabs(diff) <-.1t*tnu):
,-bst.camera[0].meted:nubottit ittit it         passtit ittit it         elifndifft< 0:t#tdownubottit    lt            n.nnE,-bst.ptz[0].tilt( pose[1] +nn.nnEspeed) # posi:ive is lef-u                    el  nubottit    lt            n.nnE,-bst.ptz[0].tilt( pose[1] -nn.nnEspeed) # negat.ve is rted:ubottit    lt        # 2. put=   r foorenext to DxT.ball
 4):
 y"""""""""""""ifnnabs(pose[0]) >==nu):
tnimHeadMimxandnabs(pose[0]) <==nu):
tnimHeadMaxnubottit    lt            # 3.mov xcloseeenoughubottit    lt            ifn(x2-x1 + y2-y1 < 140):

 ot=bottit    lt            n.nnE,-bst.mov (0.1,0.0)e(4):
 y"= y_____________el  nubottit    lt                n.nnEgoto("kick")e(4):
 y"= y_________________reDnimtbottit t____________elifnabs(pose[0]) <=nu):
tnimHeadMimnubottit    lt            if pose[0] < 0:G
 x"=     y"= y_________    n.nnE,-bst.mov (0,nu):
tnimSpeed)e(4):
 y"= y_____________el  nubottit    lt                n.nnE,-bst.mov (0,-nu):
tnimSpeed)e(4):
 y"= y_________elifnabs(pose[0]) >=nu):
tnimHeadMaxnubottit    lt            if pose[0] < 0:G
 x"=     y"= y_________    n.nnE,-bst.mov (0,-nu):
tnimSpeed)e(4):
 y"= y_____________el  nubottit    lt                n.nnE,-bst.mov (0,nu):
tnimSpeed)e(4):
 y"= y_____el  nubottit    lt        n.nnEgoto("approachBall")e(4):
 y"el  nG
 x"=       nu):
goto("nearchDown")un:
x"= kick(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.mov (0,0)G
 x"=  is.nnEposex=0n.nnE,-bst.ptz[0].posex# p,t,z,re(4):
 y"ifn(nu):
pose[0] > 0):e(4):
 y"= y_nu):
leg = "lef-"e(4):
 y"el  nG
 x"=       nu):
leg = "rted:"
x"=   itn.nnE,-bst.ptz[0].cen --()G
 x"=  ipri,n "KICK"unbot o  lsep(f.nn)iuG
 x"=  i# 1. sta d=on 3llegsnubottit  # ltmov tDxT.weted:=on DxT.oposi:e0ntdetofekicking
x"=   itn.nnE,-bst.setPose(nu):
leg+"tback leg",-0.3,0.2,0.8) G
 x"=   nleep(1)tbottit  nu):
,-bst.setPose(nu):
leg+"tback leg",-0.5,0.15,0.7)tbottit  nleep(1)tbottit  # 2. kicktbottit  nu):
,-bst.setPose(nu):
leg+ "0fro,ntleg",0.7,x0.1,x0.3)tbottit  nleep(1.0)e(4):
 y"# 3. brositlegeto ini:ialeposi:iontbottit  nu):
,-bst.setPose(nu):
leg+"tfro,ntlegtr-taor",0.0)e(4):
 y"nleep(1.0)e(4):
 y"# 4.ndistribute.weted:=on alle4llegstbottit  nu):
,-bst.setPose(nu):
leg+"tback leg ", -0.3,0.1,0.8)ubottit tn.nnE,-bst.mov (0.1,0)G
 x"=  is.nnEgoto("didYouScorn")un:
x"= lookForGoal(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.mov (0,0)G
 x"=  is.nnEp,nu):
t,"nu):
z,nu):
rx=0n.nnE,-bst.ptz[0].posex# remember wmeie     weie looking
x"=   itn.nnE,-bst.ptz[0].cen --()G
 x"=  iifn,nydom.,nydom() > 0.5:G
 x"=       nu):
maxTnimx=i-1.0
tit it      nu):
speed =x0.1u
 x"=  =el  nG
 x"=       nu):
maxTnimx=i1.0
tit it      nu):
speed =x-0.1u
 x"=  =nu):
,-bst.ptz[0].pan(nu):
maxTnim)tbottit  nleep(1)tbottit  pri,n "LOOK FOR GOAL"unbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotposex=0n.nnE,-bst.ptz[0].poseubottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.goal]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.goal][0]) == 5: # havenatgoaltblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[n.nnEbrain.goal][0]u"= y_blttitttittifnareax>35:e(4):
 y"= y_blttiiiinleep(1)tbottit  itlttitttittifnabs(pose[0]) >=0.1nubottit    lt            if pose[0] > 0:tbottit   tlt  lt            dirx=i-1 # lef-u                        el  nubottit    lt                dirx=i1ubottit    lt        el  nubottit    lt            n.nnEgoto("findGoal",[s.nnEp,nu):
t,nu):
z,nu):
r],0)e(4):
 y"= y_____________reDnimtbottit t____________n.nnEgoto("findGoal", [s.nnEp,nu):
t,nu):
z,nu):
r], dir)e(4):
 y"= y_________reDnimtbottit tifn(pose[0] ==0-nu):
maxTnim):u
 x"=    tltifn,nydom.,nydom()>0.5:# ,nydomizendirec:ione(4):
 y"= y_    dirx=i1ubottit    ltel  nubottit    lt    dirx=i-1G
 x"=       nu):
goto("findGoal",[s.nnEp,nu):
t,nu):
z,nu):
r],dir)e(4):
 y"= y_reDnimtbottit tn.nnE,-bst.ptz[0].pan(pose[0] +nn.nnEspeed)e(4):
 y"n:
x"= findGoal(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
speed =x0.05u
 x"=  =nu):
,-bst.mov (0,0)G
 x"=  is.nnEheadMaxTnimx=i0.2ubottititnu):
strafeSpeed =x0.5u
 x"=  =nu):
tnimSpeed =x0.1u
 x"=  =nu):
cou,ner =i0u"= y_bltpri,n "FIND GOAL"unbot o  lonGoto(f.nn, args)iubottit  n.nnE,-bst.ptz[0].setPose(args[0])tbottit  nleep(1)tbottit  nu):
dirx=iargs[1]ubottititifnnu):
dirx== 0:G
 x"=       nu):
goto("prepareToKick")e(4):e(4):
 y"nbot o  lsep(f.nn)iubottitotnu):
,-bst.strafe(0)G
 x"=  is.nnE,-bst.mov (0,0)G
 x"=  iareab =i0u"= y_bltresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatballeblob=0.0nted:u""""""""""""""""x1b, y1b,tx2b, y2b, areab =iresults[n.nnEbrain.ball][0]u"= y_blttitttittcen --Xb,tcen --Ybx=0(x1b + x2b)/2, (y1b + y2b)/2

 x"=  =ifnlen(results) > 1 andnlen(results[n.nnEbrain.goal]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.goal][0]) == 5: # havenatgoaltblob=0.0nted:u""""""""""""""""x1g, y1g,tx2g, y2g, areagx=0results[n.nnEbrain.goal][0]u"= y_blttitttittcen --Xg,tcen --Ygx=0(x1g + x2g)/2, (y1g + y2g)/2

 x"=  =ifnareab > 10: #nu):
matchBallnubottit    lt# see the balleandnnearch forethe goal
 4):
 y"""""posex=0n.nnE,-bst.ptz[0].posex# p,t,z,re(4):
 y"= y_# 1. cen --xcamera=on ball
 4):
 y"""""# ---------------Xtdirec:ion------------------

 x"= bo tltdifft=-(cen --Xb -0(nu):
,-bst.camera[0].width/2))

 x"= bo tltifnabs(diff) <-(.1t*tnu):
,-bst.camera[0].width)nubottit ittit it passtit ittit it elifndifft< 0:G
 x"=     y"= y_# negat.ve is rted:, posi:ive is lef-u                n.nnE,-bst.ptz[0].pan( pose[0] +nn.nnEspeed) G
 x"=       el  nubottit    lt    n.nnE,-bst.ptz[0].pan( pose[0] -nn.nnEspeed)
 4):
 y"""""# ---------------Ytdirec:ion------------------

 x"= bo tlt# keep balleat DxT.bottom ofxDxT.imagee(4):
 y"= y_ifn 1b <-(.5*nu):
,-bst.camera[0].width)nubottit ittit it n.nnE,-bst.ptz[0].tilt( pose[1] +n.5*nu):
speed) # uptit ittit it elifn 1b > .8*nu):
,-bst.camera[0].widthnubottit    lt    # don't want to loseeball
 4):
 y"""""""""n.nnE,-bst.ptz[0].tilt(pose[1] -n.5*nu):
speed) # downubottit    lt# keep the ballecen --ed

 x"= bo tltifnabs(pose[0]) > nu):
headMaxTnim:G
 x"=        tlt# 2.1tr-tanxso ball is=0.0fro,ntofn   G
 x"=        tltif pose[0] > 0:tbottit   tlt  lt    n.nnE,-bst.mov (0,nu):
tnimSpeed)e(4):
 y"= y_________n.nnE,-bst.ptz[0].pan(pose[0] -nn.nnEspeed)e(4):
 y"= y_____el  nubottit    lt        n.nnE,-bst.mov (0,-nu):
tnimSpeed)e(4):
 y"= y_________n.nnE,-bst.ptz[0].pan(pose[0] +nn.nnEspeed)e(4):
 y" tltifnareag> 10:#nu):
matchGoal:G
 x"=        tlt# ifn    see the goal
 4):
 y"""""""""difft=-(cen --Xg -0(nu):
,-bst.camera[0].width/2))

 x"= bo tltt = ifnabs(diff) <-(.1t*tnu):
,-bst.camera[0].width)nubottit ittit it     # ifncen --ed=on xndirec:ione(4):
 y"= y_    ____n.nnE,-bst.strafe(0)G
 x"=  i= y_    ____n.nnEgoto("prepareToKick")e(4):::::::::::::::::reDnimtbottit t____#tr-tanxaround DxT.ball
 4):
 y"""""nu):
cou,ner+=1tbottitotttttpri,n nu):
cou,ner,
 4):
 y"""""nu):
,-bst.strafe(nu):
strafeSpeed*nu):
dir)e(4):
 y"el  nG
 x"=       nu):
,-bst.strafe(0)G
 x"=  i= y_nu):
goto("nearchDown")u::::::::::::::::n:
x"= didYouScorn(Stan)iuubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.mov (0,0)G
 x"=  is.nnE,-bst.ptz[0].pan(0)G
 x"=  is.nnE,-bst.ptz[0].tilt(-0.1)tbottit  nu):
speed =x0.05u
 x"=  =nu):
speedHor = 0.05u
 x"=  =nu):
tiltSpeed =x0.3u"= y_bltpri,n "DID YOU SCORE"e(4):
 y"= ynbot o  lsep(f.nn)iubottitotposex=0n.nnE,-bst.ptz[0].poseubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[n.nnEbrain.ball]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.ball][0]) == 5: # havenatballeblob=0.0nted:u""""""""""""""""x1b, y1b,tx2b, y2b, areab =iresults[n.nnEbrain.ball][0]u"= y_bltifnlen(results) > 1 andnlen(results[n.nnEbrain.goal]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[n.nnEbrain.goal][0]) == 5: # havenatgoaltblob=0.0nted:u""""""""""""""""x1g, y1g,tx2g, y2g, areagx=0results[n.nnEbrain.goal][0]u"= y_bltifnareab>tmatchBallnubottit    lt# see the ballee(4):
 y" tltifnareag> matchGoal:G
 x"=        tlt# see the goal
 4):
 y"""""""""ifn(y2g >==y2b) andn\e(4)::::::::::::::::((x1b >"x1g  andnx1b <-x2g) p,n(x2b <-x2g andnx2b>"x1g))nubottit ittit  lt    nu):
goto("mov Tail")e(4):
 y"= y_________reDnimtbottit t    nu):
goto("approachBall")e(4):
 y"= y_reDnimtbottit tel  nG
 x"=       # look foreball
 4):
 y"""""ifn(abs(pose[0]) >=0.6)nubottit ittit it n.nnEspeedHor = -n.nnEspeedHorG
 x"=        tltif pose[1] <=x-0.8nubottit ittit it     # didnnot findnball
 4):
 y"""""""""""""nu):
goto("nearchDown")u::::::::::::::::____reDnimtbottit t    """"nu):
,-bst.ptz[0].tilt(pose[1] -nn.nnEtiltSpeed)G
 x"=  i= y_nu):
,-bst.ptz[0].pan(pose[0] -nn.nnEspeedHor)un:
x"= mov Tail(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.playSound("3yips")G
 x"=  is.nnEstdet=i1.0
tit it  nu):
,-bst.setPose("tail",s.nnEstde,t0)G ot"=   nu):
cou,ner =i1tbottitotnbot o  lsep(f.nn)iubottitotnu):
stdet=i-nu):
stde
tit it  nu):
,-bst.setPose("tail pan",tnu):
stde)G ot"=   nu):
cou,ner +=1tbottitotifnnu):
cou,ner > 25:G
 x"=       nu):
goto("gameOver")un:
x"= gameOver(Stan)iubotto  lonAct.vat (f.nn)iubottititpri,n "GAME OVER!"e(4):nbot o  lsep(f.nn)iubottitotnu):
,-bst.mov (0,0)G
 x"=  iiiiiiiiiiiii
o  lINIT(engine)iubot braint= R-bstVsR-bstSoccer(engine=engine)G
 x"brain.add(searchDown(1))G
 x"brain.add(searchLef-Rted:())G
 x"brain.add(searchRted:Lef-())G
 x"brain.add(approachBall())G
 x"brain.add(searchDynamic())G
 x"brain.add(lostBall())G
 x"brain.add(prepareToKick())G
 x"brain.add(findGoal())G
 x"brain.add(lookForGoal())G
 x"brain.add(kick())G
 x"brain.add(didYouScorn())G
 x"brain.add(mov Tail())G
 x"brain.add(gameOver())G
 x"reDnimxbrain
  = npyrobst/plugins/brains/ReflexVacuumAgen .py0100644000076400003100000000136110263033112021122 0u  dblankfacy# AnPyrobst braintto clean.up Dwo.,ooms usosi a
# simple reflex"brain.Afner Rusnu)leandnNorvig
# (AIMA, 2003) page 46.

-rom pyrobst.braint-------Braintn:
x"= SimpleBrain(Brain):
 oto  lReflexVaccumAgen (f.nn, loca:ion, status)iubottitifnntatus == "dirty"n=reDnimx"suck"ubottitelifnloca:ion == "A"n=reDnimx"rted:"
x"=   elifnloca:ion == "B"n=reDnimx"lef-"e(4):
 
 oto  lsep(f.nn)iubottit# ask DxT.robst foreperceptionsiubottitloca:ion =tnu):
,-bst.loca:ionubottitntatus = nu):
,-bst.statusubottit# callethe agent -rogr0,ubottitac:ion =tnu):
ReflexVaccumAgen (loca:ion, status)ubottit# makenDxT.mov nubottitnu):
,-bst.mov (ac:ion)tu# a waytofnreDnimosi the braint-nsta c):no  lINIT(engine)iubotreDnimxSimpleBrain('My Vaccum R-bst Brain', engine)G(4):
 
pyrobst/plugins/brains/AiboSoccer.py0100644000076400003100000005213210263033112017550 0u  dblankfacy"""uAuthor: Ioana Butoi
Dan: Apr 2005

Project: Two.,obsts0play soccer againsteeacheotmeiG
 x"=  iiEach ofeaxTmxcontrols half ofxDxT.arena.iEach half ofxDxT.cou---istit ittit colored.differenly. 
R-bst: Aibo ERS-7
"""

-rom pyrobst.brain.behaviors.fsmt-------*t-rom aime -------nleept-------rnydomunmatchBallx=025nmatchGoalt=-40u"= y_bltn:
x"= R-bstVsR-bstSoccer(FSMBrain)iubot o  lsetup(f.nn)iubottit xcamera==0n.nnE,-bst.camera[0]ubottitit#.goalnfiltere(4):
 y"camera.addFilter("match", 64, 104, 153, 30, 2)#b   e(4):
 y"camera.addFilter("blobify",2,255,255,0,1,1,1,)#b   tbottitotnbot itit#.ball filtere(4):
 y"#camera.addFilter("matchRay,
",178,19,41,250,101,214,0)#pink ball
 4):
 y"camera.addFilter("match", 193, 27, 31,70)#red ball
 4):
 y"camera.addFilter("blobify",0,255,255,0,1,1,1,)

 x"= unbot o  ldestroy(f.nn)iubottitits.nnEcamera[0].clearFilters()u
:
x"= approachBall(Stan)iubott"""ubot When a ball is=0.0nted:,tget closeeto it
 ot """ubot o  lonAct.vat (f.nn)i
x"=   itn.nnEspeed =x0.05u
 x"=  =nu):
tnimSpeed =x0.1u
 x"=  =nu):
headMaxTnimx=i0.3u"= y_bltpri,n "APPROACH"unbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[-1][0]u""""""""""""""""cen --X,tcen --Yx=0(x1 + x2)/2, (y1 + y2)/2

 x"=  =        ifnareax>tmatchBallnubottit    lt        posex=0n.nnE,-bst.ptz[0].posex# p,t,z,r; actsnas a.pointere(4):
 y"""""""""""""# 1. cen --xcamera=on ball
 4):
 y"""""""""""""# ---------------Xtdirec:ion------------------

 x"= bo tltt =     difft=-(cen --X -0(nu):
,-bst.camera.width/2))

 x"= bo tltt =     ifnabs(diff) <-(.1t*tnu):
,-bst.camera.width)nubottit ittit it         passtit ittit it         elifndifft< 0:G
 x"=     y"= y_________# negat.ve is rted:, posi:ive is lef-u                        n.nnE,-bst.ptz[0].pan( pose[0] +nn.nnEspeed) G
 x"=               el  nubottit    lt            n.nnE,-bst.ptz[0].pan( pose[0] -nn.nnEspeed) G
 x"=               # ---------------Ytdirec:ion------------------

 x"= bo tltt =     difft=-(cen --Yt-tnu):
,-bst.camera.meted:/2) G
 x"=               ifnabs(diff) <-.1t*tnu):
,-bst.camera.meted:nubottit ittit it         passtit ittit it         elifndifft< 0:t#tdownubottit    lt            n.nnE,-bst.ptz[0].tilt( pose[1] +nn.nnEspeed) # posi:ive is lef-u                    el  nubottit    lt            n.nnE,-bst.ptz[0].tilt( pose[1] -nn.nnEspeed) # negat.ve is rted:ubottit    lt        # 2. get closer to ball
 4):
 y"""""""""""""ifnabs(pose[0]) > nu):
headMaxTnim:G
 x"=        tltt =     # 2.1tr-tanxso ball is=0.0fro,ntofn   G
 x"=        tltt =     if pose[0] > 0:tbottit   tlt  lt            n.nnE,-bst.mov (0,nu):
tnimSpeed)e(4):
 y"= y_________        n.nnE,-bst.ptz[0].pan(pose[0] -nn.nnEspeed)e(4):
 y"= y_____________el  nubottit    lt                n.nnE,-bst.mov (0,-nu):
tnimSpeed)e(4):
 y"= y_________________n.nnE,-bst.ptz[0].pan(pose[0] +nn.nnEspeed)e(4):
 y"= y_________elifnarea<300:G
 x"=                   # 2.2 get closer to ball
 4):
 y"""""""""""""    n.nnE,-bst.mov (0.7,0)e(4):
 y"= y_________el  nubottit    lt            # 3. when closeeenoughnkick i
 4):
 y"""""""""""""    n.nnEgoto("lookForGoal")e(4):
 y"= y_____________reDnimtbottit t________el  nubott""""""""""""    n.nnEgoto("lostBall",tcen --X,tcen --Y)e(4):
 y"= y_________reDnimtbottit t____el  nubottit    lt    n.nnEgoto("nearchDown")ubottit    lt    reDnimtbottit tel  nG
 x"=       nu):
goto("nearchDown")ubottit    ltreDnimtbottit tu
:
x"= lostBall(Stan)iubott"""ubot Ballemov d outtofemy0nted:. I think I know wmeie it went
 ot """ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.mov (0,0)G
 x"=  is.nnEspeed =x0.1u
 x"=  =pri,n "LOST"uubotto  lonGoto(f.nn, args)iubottit  n.nnEballCen --X = args[0]ubottitits.nnEballCen --Y = args[1]ubottititnbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[-1][0]u""""""""""""""""ifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"= y_________reDnimtbottit tposex=0n.nnE,-bst.ptz[0].pose# p,t,z,r; actsnas a.pointere(4):
 y"diffX = abs(nu):
ballCen --X -tnu):
,-bst.camera.width/2)e(4):
 y"diffY = abs(nu):
ballCen --Yt-tnu):
,-bst.camera.meted:/2)tbottitotifndiffX >"diffYnG
 x"=       animDirVer = 0tbottittttttt# need to nearch horizo,nallyu
 x"=    tltifn(nu):
ballCen --X >tnu):
,-bst.camera.width/2)nubottit    lt    # rted:ubottit    lt    animDirHor = -1ubottit    ltel  nubottit    lt    # lef-u                animDirHor = 1u
 x"=  =el  nG
 x"=       animDirHor = 0u
 x"=    tltifn(nu):
ballCen --Y >tnu):
,-bst.camera.width/2)nubottit    lt    # downubottit    lt    animDirVer = -1ubottit    ltel  nubottit    lt    animDirVer = 1u
 x"=  =nu):
,-bst.ptz[0].pan(pose[0]+ animDirHor*n.nnEspeed)e(4):
 y"n.nnE,-bst.ptz[0].tilt(pose[1] +nanimDirVer*n.nnEspeed)e(4):
 y"ifn(((pose[0] ==01.0 p,npose[0] ==0-1.0) andnanimDirVer ==t0) ore(4):
 y"""""((pose[1] ==0-1.0 p,npose[1] ==00.0) andnanimDirHor ==t0)):G
 x"=    tltnu):
goto("nearchDown")un:
x"= searchDown(Stan)iubott"""ubot Search s forethe balleby.tnimosi the head downubott"""ub t o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.ptz[0].cen --()G
 x"=  is.nnEspeed =x0.1u
 x"=  =pri,n "DOWN"G
 x"=   nbot o  lsep(f.nn)iubottitotposex=0n.nnE,-bst.ptz[0].poseubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[-1][0]u""""""""""""""""ifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"= y_________reDnimtbottit tnu):
,-bst.ptz[0].tilt(pose[1] -nn.nnEspeed)e(4):
 y"ifn(pose[1] < -0.9):e(4):
 y"= y_nu):
goto("nearchLef-Rted:")un:
x"= searchLef-Rted:(Stan)iubott"""ubot Search s forethe balleby.tnimosi the head lef--rted:ubott"""ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.ptz[0].tilt(-0.1)tbottit  nleep(1)tbottit  nu):
,-bst.ptz[0].pan(1.0)G
 x"=  is.nnEspeed =x0.05u
 x"=  =pri,n "L -nR"uunbot o  lsep(f.nn)iubottitotposex=0n.nnE,-bst.ptz[0].poseubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[-1][0]u""""""""""""""""ifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"=           reDnimtbottit tn.nnE,-bst.ptz[0].pan(pose[0] -nn.nnEspeed)e(4):
 y"ifn(pose[0] ==0-1.0):e(4):
 y"= y_nu):
goto("nearchRted:Lef-")unun:
x"= searchRted:Lef-(Stan)iubott"""ubot Search s forethe balleby.tnimosi the head rted:-lef-u    """ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.ptz[0].tilt(-0.6)tbottit  nleep(0.5)ubottit tn.nnE,-bst.ptz[0].pan(-1.0)G
 x"=  is.nnEspeed =x0.05u
 x"=  =pri,n "R -nL"unbot o  lsep(f.nn)iubottitotposex=0n.nnE,-bst.ptz[0].poseubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbo):
 y"ifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[-1][0]u""""""""""""""""ifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"= y_________reDnimtbottit tn.nnE,-bst.ptz[0].pan(pose[0] +nn.nnEspeed)e(4):
 y"ifn(pose[0] ==01.0):e(4):
 y"= y_nu):
goto("nearchDynamic")u
titttttttttttttttu
tittttttn:
x"= searchDynamic(Stan)iubott"""ubot Search s forethe balleby.spinmosinintplaceubott"""ubot o  lonAct.vat (f.nn)i
x"=   itn.nnE,-bst.ptz[0].cen --()G
 x"=  is.nnE,-bst.ptz[0].tilt(-0.1)tbottit  nu):
cou,ner =i0u"= y_bltifn,nydom.,nydom() > 0.5: # ,nydomizenDxT.tnimtdirec:ione(4):
 y"= y_nu):
tnimSpeed =x0.2

 x"=  =el  nG
 x"=       nu):
tnimSpeed =x-0.2

 x"=  =ttttnbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[-1][0]u""""""""""""""""ifnareax>tmatchBallnubottit    lt        nu):
goto("approachBall")e(4):
 y"=           reDnimtbottit tn.nnEcou,ner +=1tbottitotifnnu):
cou,ner == 50:# afner 360 chay,
tthe angleG
 x"=       nu):
,-bst.ptz[0].tilt(-0.5)ubottit tn.nnE,-bst.mov (0.0,nu):
tnimSpeed)en:
x"= prepareToKick(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.mov (0,0)G
 x"=  is.nnE,-bst.playSound("mew")G
 x"=  is.nnEspeed =x0.05u
 x"=  =nu):
tnimSpeed=x0.1u
 x"=  =nu):
tnimHeadMimx=i0.4u
 x"=  =nu):
tnimHeadMaxx=i0.5u
 x"=  =pri,n "PREPARE TO KICK"unbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[-1][0]u""""""""""""""""ifnarea> 50:e(4):
 y"= y_________# 1.cen --xDxT.imagee(4):
 y"= y_________cen --X,tcen --Yx=0(x1 + x2)/2, (y1 + y2)/2

 x"=  =            posex=0n.nnE,-bst.ptz[0].posex# p,t,z,re(4):
 y"= y_________# ---------------Xtdirec:ion------------------

 x"= bo tltt =     difft=-(cen --X -0(nu):
,-bst.camera.width/2))

 x"= bo tltt =     ifnabs(diff) <-(.1t*tnu):
,-bst.camera.width)nubottit ittit it         passtit ittit it         elifndifft< 0:G
 x"=     y"= y_________# negat.ve is rted:, posi:ive is lef-u                        n.nnE,-bst.ptz[0].pan( pose[0] +nn.nnEspeed) G
 x"=               el  nubottit    lt            n.nnE,-bst.ptz[0].pan( pose[0] -nn.nnEspeed) G
 x"=               # ---------------Ytdirec:ion------------------

 x"= bo tltt =     difft=-(cen --Yt-tnu):
,-bst.camera.meted:/2) G
 x"=               ifnabs(diff) <-.1t*tnu):
,-bst.camera.meted:nubottit ittit it         passtit ittit it         elifndifft< 0:t#tdownubottit    lt            n.nnE,-bst.ptz[0].tilt( pose[1] +nn.nnEspeed) # posi:ive is lef-u                    el  nubottit    lt            n.nnE,-bst.ptz[0].tilt( pose[1] -nn.nnEspeed) # negat.ve is rted:ubottit    lt        # 2. put=   r foorenext to DxT.ball
 4):
 y"""""""""""""ifnnabs(pose[0]) >==nu):
tnimHeadMimxandnabs(pose[0]) <==nu):
tnimHeadMaxnubottit    lt  lt        # 3.mov xcloseeenoughubottit    lt            ifn(x2-x1 + y2-y1 < 140):

 ot=bottit    lt            n.nnE,-bst.mov (0.1,0.0)e(4):
 y"= y_____________el  nubottit    lt                n.nnEgoto("kick")e(4):
 y"= y_________________reDnimtbottit t____________elifnabs(pose[0]) <=nu):
tnimHeadMimnubottit    lt            if pose[0] < 0:G
 x"=     y"= y_________    n.nnE,-bst.mov (0,nu):
tnimSpeed)e(4):
 y"= y_____________el  nubottit    lt                n.nnE,-bst.mov (0,-nu):
tnimSpeed)e(4):
 y"= y_________elifnabs(pose[0]) >=nu):
tnimHeadMaxnubottit    lt            if pose[0] < 0:G
 x"=     y"= y_________    n.nnE,-bst.mov (0,-nu):
tnimSpeed)e(4):
 y"= y_____________el  nubottit    lt                n.nnE,-bst.mov (0,nu):
tnimSpeed)e(4):
 y"= y_____el  nubottit    l         n.nnEgoto("approachBall")e(4):
 y"el  nG
 x"=       nu):
goto("nearchDown")un:
x"= kick(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.mov (0,0)G
 x"=  is.nnEposex=0n.nnE,-bst.ptz[0].posex# p,t,z,re(4):
 y"ifn(nu):
pose[0] > 0):e(4):
 y"= y_nu):
leg = "lef-"e(4):
 y"el  nG
 x"=       nu):
leg = "rted:"
x"=   itn.nnE,-bst.ptz[0].cen --()G
 x"=  ipri,n "KICK"unbot o  lsep(f.nn)iuG
 x"=  i# 1. sta d=on 3llegsnubottit  # ltmov tDxT.weted:=on DxT.oposi:e0ntdetofekicking
x"=   itn.nnE,-bst.setPose(nu):
leg+"tback leg",-0.3,0.2,0.8) G
 x"=   nleep(1)tbottit  nu):
,-bst.setPose(nu):
leg+"tback leg",-0.5,0.15,0.7)tbottit  nleep(1)tbottit  # 2. kicktbottit  nu):
,-bst.setPose(nu):
leg+ "0fro,ntleg",0.7,x0.1,x0.3)tbottit  nleep(1.0)e(4):
 y"# 3. brositlegeto ini:ialeposi:iontbottit  nu):
,-bst.setPose(nu):
leg+"tfro,ntlegtr-taor",0.0)e(4):
 y"nleep(1.0)e(4):
 y"# 4.ndistribute.weted:=on alle4llegstbottit  nu):
,-bst.setPose(nu):
leg+"tback leg ", -0.3,0.1,0.8)ubottit tn.nnE,-bst.mov (0.1,0)G
 x"=  is.nnEgoto("didYouScorn")un:
x"= lookForGoal(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.mov (0,0)G
 x"=  is.nnEp,nu):
t,"nu):
z,nu):
rx=0n.nnE,-bst.ptz[0].posex# remember wmeie     weie looking
x"=   itn.nnE,-bst.ptz[0].cen --()G
 x"=  iifn,nydom.,nydom() > 0.5:G
 x"=       n.nnEmaxTnimx=i-1.0
tit it      nu):
speed =x0.1u
 x"=  =el  nG
 x"=       nu):
maxTnimx=i1.0
tit it      nu):
speed =x-0.1u
 x"=  =nu):
,-bst.ptz[0].pan(nu):
maxTnim)tbottit  nleep(1)tbottit  pri,n "LOOK FOR GOAL"unbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotposex=0n.nnE,-bst.ptz[0].poseubottitotifnlen(results) > 1 andnlen(results[1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[1][0]) == 5: # havenatgoaltblob=0.0nted:u""""""""""""""""x1, y1,tx2,ty2, areax=0results[1][0]u""""""""""""""""ifnareax>35:e(4):
 y"= y_blttiiiinleep(1)tbottit  itlttitttittifnabs(pose[0]) >=0.1nubottit    lt            if pose[0] > 0:tbottit   tlt  lt            dirx=i-1 # lef-u                        el  nubottit    lt                dirx=i1ubottit    lt        el  nubottittttttttttttttttttts.nnEgoto("findGoal",[s.nnEp,nu):
t,nu):
z,nu):
r],0)e(4):
 y"= y_____________reDnimtbottit t____________n.nnEgoto("findGoal", [s.nnEp,nu):
t,nu):
z,nu):
r], dir)e(4):
 y"= y_________reDnimtbottit tifn(pose[0] ==0-nu):
maxTnim):u
 x"=    tltifn,nydom.,nydom()>0.5:# ,nydomizendirec:ione(4):
 y"= y_    dirx=i1ubottit    ltel  nubottit    lt    dirx=i-1G
 x"=       nu):
goto("findGoal",[s.nnEp,nu):
t,nu):
z,nu):
r],dir)e(4):
 y"= y_reDnimtbottit tn.nnE,-bst.ptz[0].pan(pose[0] +nn.nnEspeed)e(4):
 y"n:
x"= findGoal(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
speed =x0.05u
 x"=  =nu):
,-bst.mov (0,0)G
 x"=  is.nnEheadMaxTnimx=i0.2ubottititnu):
strafeSpeed =x0.5u
 x"=  =nu):
tnimSpeed =x0.1u
 x"=  =nu):
cou,ner =i0u"= y_bltpri,n "FIND GOAL"unbot o  lonGoto(f.nn, args)iubottit  n.nnE,-bst.ptz[0].setPose(args[0])tbottit  nleep(1)tbottit  nu):
dirx=iargs[1]ubottititifnnu):
dirx== 0:G
 x"=       nu):
goto("prepareToKick")e(4):e(4):
 y"nbot o  lsep(f.nn)iubottitotnu):
,-bst.strafe(0)G
 x"=  is.nnE,-bst.mov (0,0)G
 x"=  iareab =i0u"= y_bltresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatballeblob=0.0nted:u""""""""""""""""x1b, y1b,tx2b, y2b, areab =iresults[-1][0]u""""""""""""""""cen --Xb,tcen --Ybx=0(x1b + x2b)/2, (y1b + y2b)/2

 x"=  =ifnlen(results) > 1 andnlen(results[1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[1][0]) == 5: # havenatgoaltblob=0.0nted:u""""""""""""""""x1g, y1g,tx2g, y2g, areagx=0results[1][0]u""""""""""""""""cen --Xg,tcen --Ygx=0(x1g + x2g)/2, (y1g + y2g)/2

 x"=  =ifnareab > 10: #nu):
matchBallnubottit    lt# see the balleandnnearch forethe goal
 4):
 y"""""posex=0n.nnE,-bst.ptz[0].posex# p,t,z,re(4):
 y"= y_# 1. cen --xcamera=on ball
 4):
 y"""""# ---------------Xtdirec:ion------------------

 x"= bo tltdifft=-(cen --Xb -0(nu):
,-bst.camera.width/2))

 x"= bo tltifnabs(diff) <-(.1t*tnu):
,-bst.camera.width)nubottit ittit it passtit ittit it elifndifft< 0:G
 x"=     y"= y_# negat.ve is rted:, posi:ive is lef-u                n.nnE,-bst.ptz[0].pan( pose[0] +nn.nnEspeed) G
 x"=       el  nubottit    lt    n.nnE,-bst.ptz[0].pan( pose[0] -nn.nnEspeed)
 4):
 y"""""# ---------------Ytdirec:ion------------------

 x"= bo tlt# keep balleat DxT.bottom ofxDxT.imagee(4):
 y"= y_ifn 1b <-(.5*nu):
,-bst.camera.width)nubottit ittit it n.nnE,-bst.ptz[0].tilt( pose[1] +n.5*nu):
speed) # uptit ittit it elifn 1b > .8*nu):
,-bst.camera.widthnubottit    lt    # don't want to loseeball
 4):
 y"""""""""n.nnE,-bst.ptz[0].tilt(pose[1] -n.5*nu):
speed) # downubottit    lt# keep the ballecen --ed

 x"= bo tltifnabs(pose[0]) > nu):
headMaxTnim:G
 x"=        tlt# 2.1tr-tanxso ball is=0.0fro,ntofn   G
 x"=        tltif pose[0] > 0:tbottit   tlt  lt    n.nnE,-bst.mov (0,nu):
tnimSpeed)e(4):
 y"= y_________n.nnE,-bst.ptz[0].pan(pose[0] -nn.nnEspeed)e(4):
 y"= y_____el  nubottit    lt        n.nnE,-bst.mov (0,-nu):
tnimSpeed)e(4):
 y"= y_________n.nnE,-bst.ptz[0].pan(pose[0] +nn.nnEspeed)e(4):
 y" tltifnareag> 10:#nu):
matchGoal:G
 x"=        tlt# ifn    see the goal
 4):
 y"""""""""difft=-(cen --Xg -0(nu):
,-bst.camera.width/2))

 x"= bo tltt = ifnabs(diff) <-(.1t*tnu):
,-bst.camera.width)nubottit ittit it     # ifncen --ed=on xndirec:ione(4):
 y"= y_    ____n.nnE,-bst.strafe(0)G
 x"=  i= y_    ____n.nnEgoto("prepareToKick")e(4):::::::::::::::::reDnimtbottit t____#tr-tanxaround DxT.ball
 4):
 y"""""nu):
cou,ner+=1tbottitotttttpri,n nul:
cou,ner,
 4):
 y"""""nu):
,-bst.strafe(nu):
strafeSpeed*nu):
dir)e(4):
 y"el  nG
 x"=       nu):
,-bst.strafe(0)G
 x"=  i= y_nu):
goto("nearchDown")u::::::::::::::::n:
x"= didYouScorn(Stan)iuubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.mov (0,0)G
 x"=  in.nnE,-bst.ptz[0].pan(0)G
 x"=  is.nnE,-bst.ptz[0].tilt(-0.1)tbottit  nu):
speed =x0.05u
 x"=  =nu):
speedHor = 0.05u
 x"=  =nu):
tiltSpeed =x0.3u"= y_bltpri,n "DID YOU SCORE"e(4):
 y"= ynbot o  lsep(f.nn)iubottitotposex=0n.nnE,-bst.ptz[0].poseubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatballeblob=0.0nted:u""""""""""""""""x1b, y1b,tx2b, y2b, areab =iresults[-1][0]u""""""""ifnlen(results) > 1 andnlen(results[1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[1][0]) == 5: # havenatgoaltblob=0.0nted:u""""""""""""""""x1g, y1g,tx2g, y2g, areagx=0results[1][0]u""""""""ifnareab>tmatchBallnubottit    ltifnareag> matchGoal:G
 x"=        tltifn(y2g >==y2b) andn\e(4)::::::::::::::::((x1b >"x1g  andnx1b <-x2g) p,n(x2b <-x2g andnx2b>"x1g))nubottit ittit  lt    nu):
goto("mov Tail")e(4):
 y"= y_________reDnimtbottit t    nu):
goto("waitForBall")e(4):
 y"= y_reDnimtbottit tel  nG
 x"=       ifn(abs(pose[0]) >=0.6)nubottit ittit it n.nnEspeedHor = -n.nnEspeedHorG
 x"=        tltif pose[1] <=x-0.8nubottit ittit it     nu):
goto("waitForBall")e(4):
 y"= y_________reDnimtbottit t        nu):
,-bst.ptz[0].tilt(pose[1] -nn.nnEtiltSpeed)G
 x"=  i= y_nu):
,-bst.ptz[0].pan(pose[0] -nn.nnEspeedHor)un:
x"= mov Tail(Stan)iubotto  lonAct.vat (f.nn)iubottititnu):
,-bst.playSound("3yips")G
 x"=  is.nnEstdet=i1.0
tit it  nu):
,-bst.setPose("tail",s.nnEstde,t0)G ot"=   nu):
cou,ner =i1tbottitotnbot o  lsep(f.nn)iubottitotnu):
stdet=i-nu):
stde
tit it  nu):
,-bst.setPose("tail pan",tnu):
stde)G ot"=   nu):
cou,ner +=1tbottitotifnnu):
cou,ner > 25:G
 x"=       nu):
goto("waitForBall")en:
x"= waitForBall(Stan)iubott"""ubot   TxT.robst looksxaround forethe balleand DxTn waits u,nilethe balleistit itton its ntdetofeDxT.cou--.ubott"""uubotto  lonAct.vat (f.nn)iubottititnu):
speed =x0.05u
 x"=  =nu):
speedHor = 0.05u
 x"=  =nu):
tiltSpeed =x0.3u"= y_bltpri,n "WAIT FOR BALL"G
 x"=   nbot o  lsep(f.nn)iubottitotresultsx=0n.nnE,-bst.camera[0].filterResultstbottitotposex=0n.nnE,-bst.ptz[0].poseubottitotifnlen(results) > 1 andnlen(results[-1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[-1][0]) == 5: # havenatballeblob=0.0nted:u""""""""""""""""x1b, y1b,tx2b, y2b, areab =iresults[-1][0]u""""""""ifnlen(results) > 1 andnlen(results[1]) > 0: # need a.match, andnblobify atnleas:u
 x"=    tltifnlen(results[1][0]) == 5: # havenatgoaltblob=0.0nted:u""""""""""""""""x1g, y1g,tx2g, y2g, areagx=0results[1][0]u""""""""ifnareab>tmatchBallnubottit    lt#tmov tDxT.head so     can see the floorenext to DxT.ball
 4):
 y"""""ifn 2b >"(.5*nu):
,-bst.camera.width)nubottit ittit it n.nnE,-bst.ptz[0].tilt( pose[1] -n.5*nu):
speed) # downubottit    lt""""ifnpose[1] < -0.8nubottit ittit it     # cannot mov thead anymornubottit ittit it     nu):
goto("approachBall")e(4):
 y"=           reDnimtbottit tttttelifn 2b <-.2*nu):
,-bst.camera.widthnubottit    lt    # don't want to loseeball
 4):
 y"""""""""n.nnE,-bst.ptz[0].tilt(pose[1] -n.5*nu):
speed) # uptit ittit it el  nubottit    lt    ifnnareag> matchGoal:G
 x"=        tlt    ifny2g "x2gnubottittttttttttttttttttts.nnEgoto("approachBall")e(4):
 y"=               reDnimtbottit ttttt it el  nubottit    lt    tttts.nnEgoto("approachBall")e(4):
 y"=           reDnimtbottit tel  nG
 x"=       # nearch forethe ball
 4):
 y"""""ifn(abs(pose[0]) ==01.0):e(4):
 y"= y_tttts.nnEspeedHor = -n.nnEspeedHorG
 x"=        tltif pose[1] >==0 p,npose[1] <=x-0.8nubottit ittit it     nu):
tiltSpeed =x-nu):
tiltSpeedtbottit t        nu):
,-bst.ptz[0].tilt(pose[1] -nn.nnEtiltSpeed)G
 x"=  i= y_____G
 x"=  i= y_nu):
,-bst.ptz[0].pan(pose[0] -nn.nnEspeedHor)ubottit ittit it     
o  lINIT(engine)iubot braint= R-bstVsR-bstSoccer(engine)G
 x"brain.add(searchDown())G
 x"brain.add(searchLef-Rted:())G
 x"brain.add(searchRted:Lef-())G
 x"brain.add(approachBall())G
 x"brain.add(searchDynamic())G
 x"brain.add(lostBall())G
 x"brain.add(prepareToKick())G
 x"brain.add(findGoal())G
 x"brain.add(lookForGoal())G
 x"brain.add(kick())G
 x"brain.add(didYouScorn())G
 x"brain.add(mov Tail())G
 x"brain.add(waitForBall(1))G
 x"reDnimxbrain
  = npyrobst/plugins/brains/BlimpBrain.py0100644000076400003100000000457310564221504017574 0u  dblankfacy-rom pyrobst.braint-------Braint-------aime

o  lavg(mem)iubotreDnimxsum(mem)/len(mem)nun:
x"= BlimpBrain(Brain):
 oto  lsetup(f.nn)iubottitn.nnEtargetDista c)t=i1.0t#tmetersubottitn.nnEmemt=i[0]*10ubottitn.nnEsep_cou,n =i0u"= y_bnu):
cont_cou,n =i0u"= y_bnu):
old_amn =i0u"= y_bnu):
igaimx=i0.0u"= y_bnu):
pgaimx=i0.75u"= y_bnu):
dgaimx=i0.25u"= y_bnu):
integralt=-0.0u"= y_bnu):
old_difft=-0.0u"= y_bnu):
derivx=i0.0u"= y_bnu):
pul  Time =x0.5u
 x"= nu):
dutyCycle =x.3u"= y_bif not nu):
,-bst.hasA("frequency"):e(4):
 y"=n.nnEsartDevice("Frequency")u
 x"= nu):
,-bst.frequency[0].setSampleTime(0.1)tbottitpri,n "nleep between:",tnu):
,-bst.frequency[0].asyncSleeptbottitpri,n "nampleTime:",tnu):
,-bst.frequency[0].nampleTimetbottitforei=0.0ray,
(10):e(4):
 y"=dista c), freq, valu), total, best, bestValu)x=0n.nnE,-bst.frequency[0].resultstbottitottn.nnEmem[i]x=0dista c)tbottitottaime.nleep(.1)tbottit   
 oto  lsep(f.nn)iubottitdista c), freq, valu), total, best, bestValu)x=0n.nnE,-bst.frequency[0].resultstbottitavx=iavg(n.nnEmem)tbottitpri,n abs(dista c)t-iav)u"= y_bif(abs(dista c)t-iav) > 1):e(4):
 y"=n.nnEcont_cou,n +=i1ubottit   if(n.nnEcont_cou,n > 20):e(4):
 y"= y_forei=0.0ray,
(10):e(4):
 y"=:
 y"=dista c), freq, valu), total, best, bestValu)x=0n.nnE,-bst.frequency[0].resultstbottitottreDnimtbottitel  nG
 x"=    nu):
cont_cou,n =i0u"= y_bottn.nnEmem[n.nnEsep_cou,n%10]x=0dista c)tbottitottn.nnEsep_cou,n +=i1ubottit   #pro----ional
 4):
 y""difft=-n.nnEtargetDista c)t-0dista c)tbottitott#pri,n difftbottitott#integraltbottitottn.nnEintegralt+= difftbottitott#derivat.vetbottitottn.nnEderivx=idifft-bnu):
old_difftbottitott#correc:ion amou,ntbottitottamou,nt=-(n.nnEintegralt*bnu):
igaimx+idifft+-(n.nnEderiv*nu):
dgaim))t*bnu):
pgaim
ubottit   if((amou,nt>=t0) andn(amou,nt<=x19))nubottit ittitamou,nt+=i19ubottit itelif((amou,nt=i-19))nubottit ittitamou,nt-=i19ubottit itamou,nt=-max(min(amou,n,01.0),0-1.0)

tbottit   
 ottitott#pri,n dista c), amou,n,0diff,bnu):
pgaim,bnu):
igaim,bnu):
dgaimtbottitottn.nnEold_amn =iamou,ntbottitottnu):
,-bst.mov Z(amou,n)tbottit   aime.nleep(.2)tbottitottnu):
,-bst.mov Z(0)tbottit   aime.nleep(.2)tbottitott#aime.nleep(nu):
dutyCycle *bnu):
pul  Time)tbottitott#nu):
,-bst.mov Z(0.0)e(4):
 y"=#aime.nleep(nu):
pul  Time * (1-nu):
dutyCycle))tbottitottnu):
old_difft=-difft
no  lINIT(engine)iubotreDnimxBlimpBrain("BlimpBrain", engine)G(4):
 
pyrobst/plugins/brains/BraitenbergTimid.py0100644000076400003100000000240710325740303020760 0u  dblankfacy"""uBraitenberg Timid

I lan obcle is within 1.robst unittofeDxT.robst, DxTn DxT.closer it
is on DxT.lef- ntdetthe fas --xDxT.lef- motoremov s,eand DxT.closer it
is on DxT.rted: ntdetthe fas --xDxT.rted: motoremov s.iiEach motoreis
also g.ven a smalleposi:ive consta t valu).iiTogether, Dxis causesxDxT
robst to be ableeto naviganxa-maz), ifeDxTre is is an open path.
WxTn DxT.robst encou,ners a.dead end, it cannot Dnimxaround.iiTry Dxis
with DxT.LongHalleworld.

"""

-rom pyrobst.braint-------Brain,iavgun:
x"= Vehicle(Brain):
 oto  lsetup(f.nn)iubottitn.nnErobst.ray,
.unitsx=0"ROBOTS"ubottitn.nnEconsta t =x0.1u
 xo  lsep(f.nn)iubottitlef- t=-min([s.valu)_fores=0.0n.nnErobst.ray,
["fro,n-lef-"]])tbottitrted: =-min([s.valu)_fores=0.0n.nnErobst.ray,
["fro,n-rted:"]])tbottitlef-Speed =xn.nnEconsta ttbottitrted:Speed =xn.nnEconsta ttbottitifnlefnt0.8nubottitreDnimx0.1u
 xifnx<0.4 orex>0.6nubottitreDnimx0.7ubotel  nG
 x"= reDnimx1.0
n:
x"= Vehicle(Brain):
 oto  lsetup(f.nn)iubottitn.nnErobst.lted:[0].unitsx=0"SCALED"u
 xo  lsep(f.nn)iubottitlef-Speed =xsep(max([s.valu)_fores=0.0n.nnErobst.lted:[0]["rted:"]]))tbottitrted:Speed =xsep(max([s.valu)_fores=0.0n.nnErobst.lted:[0]["lef-"]]))tbottitpri,n "lef-Speed,trted:Speed:",tlef-Speed,trted:Speedubottitn.nnEmotors(lef-Speed,ttrted:Speed) 
no  lINIT(engine)iubotifnengineErobst.type not 0.0['K-Team', 'Pyrobst']nubottitraise0"Robst should havenlted: nensors!"e(4)reDnimxVehicle('Braitenberg', engine)G(4):
 
pyrobst/plugins/brains/BlimpRecorder.py0100755000076400003100000000266310427000033020275 0u  dblankfacy-rom pyrobst.braint-------Brainu-rom pyrobst.camera.v4lt-------V4LCamera
#-rom pyrobst.camera.faket-------FakeCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu-rom pyrobst.camera.fourwayt-------FourwayCamera
-------aime

o  lsetupFourway(robst)iubottifnlen(robst.camera) ==01nubottit iindex =i0u"= yel  nG
 x"=   raise0AttributeError, "    need a.singlexcamera=already loaded"ubot baseCamerax=0r-bst.camera[index]u""""camerast=i[0] * 4u
 x"r-tanx=i[0] * 4u
 x"r-tan[2] =i1tbottforei=0.0ray,
(4)nG
 x"=   cameras[i]x=0FourwayCamera(baseCamera, 4, i,"r-tan[i])G
 x"reDnimx[{"camera": cameras[0]},
 4):
 y"""""{"camera": cameras[1]},
 4):
 y"""""{"camera": cameras[2]},
 4):
 y"""""{"camera": cameras[3]}]un:
x"= BlimpRecorder(Brain):
 otto  lsetup(f.nn)iubottitttn.nnEimageCou,nt=-1tbottitotifnnot nu):
,-bst.hasA("camera"):e(4):
 y"= y_nu):
,-bst.startDevice("Frequency")u
 x"= y"= y_nu):
,-bst.startDevice({"camera":u
 x"= y"= y_________________________V4LCamera(640,480,chaynel=0,u
 x"= y"= y___________________________________visionSysemt=-VisionSysem())})u
 x"= y"= y_nu):
,-bst.startDevice(setupFourway(nu):
,-bst))u
 x"= y"= y_nu):
,-bst.camera[3].addFilter("grayScale")u
 x"= 
 otto  lsep(f.nn)iubottitotpri,n aime.aime(),tnu):
,-bst.frequency[0].resultstbottitotn.nnE,-bst.camera[0].vision.saveImage("cam0-%05d.pbm" %tn.nnEimageCou,n)ubottitttn.nnEimageCou,nt+=i1u
o  lINIT(engine)iubot reDnimxBlimpRecorder('BlimpRecorder', engine)G(4):
 
pyrobst/plugins/brains/BlimpScavenger.py0100644000076400003100000001507710456503104020456 0u  dblankfacy""" Txis isxDxT FSM forethe scavenger hu,n,0AAAI 2006. """

-rom pyrobst.brain.behaviors -------Stan, FSMBrainu-rom pyrobst.simulaors.pysimt-------*
-------,nydom,-aime

o  lavg(vecor)iubot""" Computeslaveragetofea vecortofenumbers. Works=on alletypestofenumbers. """ubotreDnimxsum(vecor)/float(len(vecor))G(4):
 
:
x"= Start(Stan)iubot""" Start state. Ju an ini:ializa:ion state. """uboto  lsetup(f.nn)iubottit#nanimxon DxT.devices,tifnnot already one(4):
 if not nu):
,-bst.hasA("frequency"):e(4):
 y"=n.nnEsartDevice("Frequency")u
 x"= nu):
,-bst.frequency[0].setSampleTime(0.1)tbottitifnnot nu):
,-bst.hasA("camera"):e(4):
 y"=n.nnEsartDevice("V4LCamera")u
 x"= y"=n.nnEsartDevice("FourwayRot2")u
 x"= # clearethe filtersiubottitn.nnErobst.camera[0].clearCallbackList()u
 x"= nu):
,-bst.camera[1].clearCallbackList()u
 x"= nu):
,-bst.camera[2].clearCallbackList()u
 x"= nu):
,-bst.camera[3].clearCallbackList()u
 x"= nu):
,-bst.camera[4].ac:ive ==0 # don't need Dxis oneu
 x"= # maketsome aliasesiubottitn.nnEbrain.fro,nCamerax=0nu):
,-bst.camera[2]ubottitn.nnEbrain.backCamerax=0nu):
,-bst.camera[1]ubottitn.nnEbrain.downCamerax=0nu):
,-bst.camera[3]u
 x"= # Back camera=-----------------------------------------------ubottitn.nnEbrain.backCamera.addFilter("r-tan",)_#tr-tanxit cozxit is upntdetdown!u
 x"= # filtersiubottitn.nnEbrain.backCamera.addFilter("match",140,135,78,)ubottitn.nnEbrain.backCamera.addFilter("match",240,234,172,)ubottitn.nnEbrain.backCamera.addFilter("match",186,182,119,)ubottitn.nnEbrain.backCamera.addFilter("blobify",0,255,255,0,1,1,1,)ubottitn.nnEbrain.backCamera.minBlob==i100u
 x"= # Fro,ntcamera=----------------------------------------------u
 x"= # filtersiubottitn.nnEbrain.fro,nCamera.addFilter("match",155,149,85,)ubottitn.nnEbrain.fro,nCamera.addFilter("match",184,194,117,)ubottitn.nnEbrain.fro,nCamera.addFilter("match",217,243,170,)ubottitn.nnEbrain.fro,nCamera.addFilter("match",131,132,54,)ubottitn.nnEbrain.fro,nCamera.addFilter("match",255,255,219,)ubottitn.nnEbrain.fro,nCamera.addFilter("blobify",0,255,255,0,1,1,1,)ubottitn.nnEbrain.fro,nCamera.minBlob==i100bottitu
 xo  lsep(f.nn)iubottit# watchtsome varsiubottitn.nnEengineEgui.watch("brain.ac:iveStan.name")u
 x"= nu):
engineEgui.watch("brain.states['MaintainHeted:'].dista c)")u
 x"= nu):
engineEgui.watch("brain.states['MaintainHeted:'].old_amn")tbottitpri,n "HTre we go!"ubottit# sart.twonstatesiubottitn.nnEgoto("MaintainHeted:")u
 x"= nu):
goto("Search")en:
x"= MaintainHeted:(Stan)iubot""" MaintainstDxT.heted:=ofethe ballon.
"""uboto  lsetup(f.nn)iubottitn.nnEtargetDista c)t=x0.6t#tmetersubottitn.nnEdista c)st=i[0]*10ubottitn.nnEdista c)t=xn.nnEtargetDista c)t# currenteheted:, sart.offnaboutehernubottitnu):
pgaimt=i1.0
tit itnu):
igaimx=-0.0u"= y_bnu):
dgaimx=-0.0u"= y_bnu):
sep_cou,n =i0u"= y_bnu):
integralt=-0.0u"= y_bnu):
old_difft=-0.0u"= y_bnu):
old_amn =i0.0u"= y_bnu):
derivx=i0.0u"= y_bnu):
pul  Time =x0.5u
 x"= nu):
dutyCycle =x.3u"= y_bpri,n "MaintainHeted::"u"= y_bpri,n "  nleep between:",tnu):
,-bst.frequency[0].asyncSleeptbottitpri,n "  nampleTime:",tnu):
,-bst.frequency[0].nampleTimetbottitnampleCou,n =i0u"= y_bpri,n "  nample sarting..."u"= y_bwhile sampleCou,n =t0) andn(amou,nt<=x19))nubottit ittitamou,nt+=i19ubottit itelif((amou,nt=i-19))nubottit ittitamou,nt-=i19ubottit itamou,nt=-max(min(amou,n,01.0),0-1.0)
bottitottn.nnEold_amn =iamou,ntbottitottnu):
,-bst.mov Z(amou,n)tbottit   aime.nleep(.2)tbottitottnu):
,-bst.mov Z(0) tbottit   aime.nleep(.2)tbottitottnu):
old_difft=-difft
:
x"= Search(Stan)i # lookingethrough forwardtcamera=to find a fiducialtboto  lonGoto(f.nn, argst=i[])iubottitn.nnEtrackFro,nCou,n =i0u"= y_bn.nnEtrackBackCou,n =i0u"= y_bu
 xo  lsep(f.nn)iubottit# looksxin DxT.fro,n,tback,eand downncamerastforeitemstofein --es:u
 x"= backResults t=-n.nnEbrain.backCamera.filterResults[:]t# copy resultstbottitfro,nResultsx=0n.nnEbrain.fro,nCamera.filterResults[:]t# copy resultstbottitbackBlob==i[data foredata in backResults ifeDype(data) ==0tuple][0][0] # get blob=datatbottitfro,nBlob==i[data foredata in fro,nResultsxifeDype(data) ==0tuple][0][0] # get blob=datatbottit#"x1, y1,tx2,tx2,tmatchestbottitpri,n fro,nBlob[4],tbackBlob[4]tbottitifnfro,nBlob[4] >tbackBlob[4]nubottit itifnfro,nBlob[4] >tn.nnEbrain.fro,nCamera.minBlob:e(4):
 y"= y_nu):
trackFro,nCou,n +=i1ubottit    ltifnnu):
trackFro,nCou,n > 5:e(4):
 y"= y_bltpri,n "Tracknfro,n"e(4):
 y"= y_bltnu):
goto("Track",t"fro,n")e(4):
 y"=      reDnimtbottitel  nG
 x"=    ifnbackBlob[4] >tn.nnEbrain.backCamera.minBlob:e(4):
 y"= y_nu):
trackBackCou,n +=i1ubottit    ltifnnu):
trackBackCou,n > 5:e(4):
 y"= y_bltpri,n "Tracknback"e(4):
 y"= y_bltnu):
goto("Track",t"back")e(4):
 y"=      reDnimtbottitpri,n "Stillesearching..."u"= y_b# we are sillesearching.nlet'str-tan!u
 x"= ,nydx=0rnydom.,nydom()tbottitifn,nydx .9)n G
 x"=   	pri,n "lineldetectedton Lef-,tslow Dnimxto lef-"e(4):
 y"	reDnim(.1,t.2)tbot	elifn(lefnt> .9) andn(,ted: <= .9)nG
 x"= 		pri,n "lineldetectedton rted:, slow Dnimxto rted:"u		reDnim(.1,t-.2)tbott	el  ntotn		pri,n "Nonltneldetected,eattemptingeto locanxltneldependingeon 
x": mov men s"e(4):
 y"	ifnnu):

x":Lef-t<= .9iu			reDnim(.1,t.2)t		elifnnu):

x":Rted: <= .9iu			reDnim(.1,t-.2)t		el  nG			pri,n "Lx": locaion testsxfailed,ebeginningecircul search"u			reDnim(0,t.3)t	nu):

x"Lef-t=-lef-u	nu):

x":Rted: =.rted: u			u
 xo  lsep(f.nn)i= 
 ot	lef-t=-min([s.dista c)()_fores=0.0n.nnErobst.ray,
["lef--fro,n"]])tbot	rted: =-min([s.dista c)()_fores=0.0n.nnErobst.ray,
["rted:-fro,n"]])tbotot	Dranslaion,"r-tanx=in.nnEdetermineMov (lef-,trted:)otn	nu):
,-bst.mov (Dranslaion,"r-tan)eno  lINIT(engine)ixtn	x"=e---(engineErobst.requires("ray,
-sensor") andt		engineErobst.requires("continuous-mov men "))G	reDnim LineFollow--('LineFollow--', engine)G	
pyrobst/plugins/brains/NNBrain.py0100644000076400003100000000247610446154025017046 0u  dblankfacy# NNBrain.py
-rom pyrobst.braint-------Brainu-rom pyrobst.brain.conx -------SRNen:
x"= NNBrain(Brain):
 otto  lsetup(f.nn)iubottitttn.nnErobst.ray,
.unitsx=0"scaled"ubottitttn.nnEne: =-SRN()ubottitttn.nnEsequenceType =0"ordered-continuous"ubottittt#lINPUT: ir, ears,tmouth[t-1]ubottitttn.nnEne:.addLayer("input",tlen(n.nnErobst.ray,
)t+-1t+-4t+-2t+-1)t# sonar, sall, ears,teyes,tspeech[t-1]ubottitttn.nnEne:.addContextLayer("context",t5, "hidden")G
 x"=  is.nnEne:.addLayer("hidden",t5)ubottittt#lOUTPUT: Drans,"r-tan,tsayG
 x"=  is.nnEne:.addLayer("output",t3)ubottittt#l----------------------------------u
 x"=  is.nnEne:.connect("input",t"output")G
 x"=  is.nnEne:.connect("context",t"hidden")G
 x"=  is.nnEne:.connect("hidden",t"output")G
 x"=  is.nnEne:["context"].setAct.vations(.5)e
 x"=  is.nnEne:.learninge=i0u
 otto  lsep(f.nn, ot1,tor1):e(4):
 y"-,tr==i[((v * 2) --1)tforev 0.0[ot1,tor1]]ubottitttn.nnErobst.mov (D,tr)e
 x"=  i
 otto  lpro-agat (f.nn, nounds):e(4):
 y"lted:sx=0n.nnE,-bst.lted:[0].valu)s()ubottitttinputsx=0n.nnE,-bst.ray,
.dista c)()_+ [nu):
,-bst.sall]_+ nounds_+ lted:sx+ [nu):
ne:["output"].ac:ivation[2]]ubottitttn.nnEne:.pro-agat (input=inputs)G
 x"=  is.nnEne:.copyHiddenToContext()ubottitttreDnimx[vtforev 0.0nu):
ne:["output"].ac:ivation] # D,tr,tspeecheno  lINIT(eng)iubot reDnimxNNBrain(engine=eng)
pyrobst/plugins/__ini:__.py0100755000076400003100000000000007447761623016037 0u  dblankfacypyrobst/plugins/devices/0040755000076400003100000000000010774545535015361 5u  dblankfacypyrobst/plugins/devices/AllSup----ed.py0100755000076400003100000000015710263033112020324 0u  dblankfacy""" Txis device0ntenalsxDxT robst everything it sup----s """

o  lINIT(robst)iubottreDnimxrobst.builtinDevices
pyrobst/plugins/devices/Blob.py0100755000076400003100000000015510260524106016567 0u  dblankfacy""" Txis device0ntenalsxDxT robst to load i:s blob=in --face """

o  lINIT(robst)iubottreDnimx["blobfinder"]
pyrobst/plugins/devices/BlobCamera.py0100755000076400003100000000026510260524106017702 0u  dblankfacy-rom pyrobst.camera.blob=i------BlobCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": BlobCamera(robst,_visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/Bumpers.py0100644000076400003100000000014210071163244017321 0u  dblankfacy""" Txis device0ntenalsxDxT robst to load i:s bumpers """

o  lINIT(robst)iubottreDnimx["bumper"]
pyrobst/plugins/devices/FakeCamera.py0100755000076400003100000000025610260524106017672 0u  dblankfacy-rom pyrobst.camera.faket-------FakeCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": FakeCamera(visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/GLView.py0100755000076400003100000000012310260524106017041 0u  dblankfacy
-rom pyrobst.gui.glt-------*
no  lINIT(robst)iubottreDnimx{"view": GLView(robst)}
pyrobst/plugins/devices/GPS.py0100644000076400003100000000014510071163244016340 0u  dblankfacy""" Txis device0ntenalsxDxT robst to load i:s gps=in --face """

o  lINIT(robst)iubottreDnimx["gps"]
pyrobst/plugins/devices/SimpleDevice.py0100755000076400003100000000015510260524106020262 0u  dblankfacy# A Simple Device

-rom pyrobst.robst.device0-------Device

o  lINIT(robst)iubottreDnimx{"simple": Device()}
pyrobst/plugins/devices/Gripp--.py0100644000076400003100000000014110072431650017313 0u  dblankfacy""" Txis device0ntenalsxDxT robst to load i:s gripp-- """

o  lINIT(robst)iubottreDnimx"gripp--"
pyrobst/plugins/devices/Las--.py0100644000076400003100000000013710071163244016756 0u  dblankfacy""" Txis device0ntenalsxDxT robst to load i:s las-- """

o  lINIT(robst)iubottreDnimx["las--"]
pyrobst/plugins/devices/ViewAll.py0100755000076400003100000000015710260524106017256 0u  dblankfacy-rom pyrobst.gui.plst.simple -------SimplePlst
no  lINIT(robst)iubottreDnimx{"view": SimplePlst(robst,_'all')}
pyrobst/plugins/devices/TutorialCameraS --eo.py0100755000076400003100000000051710410155317022012 0u  dblankfacy-rom pyrobst.camera.faket-------FakeCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": FakeCamera(patternt= "vision/s --eo/s --eo-??.ppm",u
 x"= y"= y______________________sart.= 1,u
 x"= y"= y______________________sop.= 7,u
 x"= y"= y______________________visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/Pow--.py0100644000076400003100000000015110071163244017000 0u  dblankfacy""" Txis device0ntenalsxDxT robst to load i:s pow--xin --face """

o  lINIT(robst)iubottreDnimx["pow--"]
pyrobst/plugins/devices/ViewBack.py0100755000076400003100000000016010260524106017400 0u  dblankfacy-rom pyrobst.gui.plst.simple -------SimplePlst
no  lINIT(robst)iubottreDnimx{"view": SimplePlst(robst,_'back')}
pyrobst/plugins/devices/S --eo.py0100755000076400003100000000076210426372772017174 0u  dblankfacy""" Needsttwoncameras. """

-rom pyrobst.camera.s --eo -------St--eoCamera
-rom pyrobst.sysem.share -------ask
no  lINIT(robst)iubottreDvalt=-ask("Please en --xDxT index numbers=ofethe lef-tandnrted: cameras",u
 x"= y"= y______(("Lef-",t"0"),u
 x"= y"= y_______("Rted:",t"1"),u
 x"= y"= y_______))G(4):lef-t=-in (reDval["Lef-"])G
 x"rted: =-in (reDval["Rted:"])G(4):lef-Camerax=0r-bst.camera[lef-]G
 x"rted:Camerax=0r-bst.camera[rted:]ubottreDnimx{"camera": St--eoCamera(lef-Camera,"rted:Camera)}
pyrobst/plugins/devices/Test.py0100755000076400003100000000113110564221504016626 0u  dblankfacy# A Simple Device
# See TestNoBlock to see a test device0that updates
# asynchronously,eand quickly.

-rom pyrobst.robst.device0-------Device

:
x"= TestDevice(Device):
 otto  lsetup(f.nn)iubottitttn.nnEtype =0"test"ubottitttn.nnEvisible =x1ubottitttn.nnEspecialvalu)x=042u
 otto  lmakeWindow(f.nn)iubottitotpri,n "[[[[lmadT.window! ]]]]"u
 otto  lupdateWindow(f.nn)iubottitotpri,n "update.window! -------------"t# when visible, fewnaimes a.secondu
 otto  lupdateDevice(senn)iubottitotpri,n "-------------lupdate device!"t# aboute10naimes a.second!
no  lINIT(robst)iubottreDnimx{"test": TestDevice()}
pyrobst/plugins/devices/Sonar.py0100644000076400003100000000013710266722354017003 0u  dblankfacy""" Txis device0ntenalsxDxT robst to load i:s sonar """

o  lINIT(robst)iubottreDnimx["sonar"]
pyrobst/plugins/devices/TutorialCamera.py0100755000076400003100000000043310260524106020624 0u  dblankfacy-rom pyrobst.camera.faket-------FakeCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": FakeCamera(patternt= "vision/tutorial/test-?.ppm",_sart.= 0,u
 x"= y"= y______________________sop.= 11,xin --valt=-1,_visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/ViewFro,n.py0100755000076400003100000000016110260524106017631 0u  dblankfacy-rom pyrobst.gui.plst.simple -------SimplePlst
no  lINIT(robst)iubottreDnimx{'view': SimplePlst(robst,_'fro,n')}
pyrobst/plugins/devices/__ini:__.py0100644000076400003100000000000010071163244017434 0u  dblankfacypyrobst/plugins/devices/V4LCamera0.py0100755000076400003100000000034710564221504017515 0u  dblankfacy-rom pyrobst.camera.v4lt-------V4LCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera" :-V4LCamera( 640, 480, channelt=-0, u
 x"= y"= y_______________________visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/V4LCamera1.py0100755000076400003100000000034610260524106017512 0u  dblankfacy-rom pyrobst.camera.v4lt-------V4LCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera" :-V4LCamera( 160, 120, channelt=-1,u
 x"= y"= y_______________________visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/BT848Camera.py0100755000076400003100000000034110260524106017570 0u  dblankfacy-rom pyrobst.camera.bt848=i------BT848Camera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera" :-BT848Camera( 160, 120, u
 x"= y"= y________________________visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/ViewBack_all.py0100755000076400003100000000016410260524106020234 0u  dblankfacy-rom pyrobst.gui.plst.simple -------SimplePlst
no  lINIT(robst)iubottreDnimx{"view": SimplePlst(robst,_'back-all')}
pyrobst/plugins/devices/ViewFro,n_all.py0100755000076400003100000000016510260524106020465 0u  dblankfacy-rom pyrobst.gui.plst.simple -------SimplePlst
no  lINIT(robst)iubottreDnimx{'view': SimplePlst(robst,_'fro,n-all')}
pyrobst/plugins/devices/ViewLef-.py0100755000076400003100000000016010260524106017432 0u  dblankfacy-rom pyrobst.gui.plst.simple -------SimplePlst
no  lINIT(robst)iubottreDnimx{"view": SimplePlst(robst,_'lef-')}
pyrobst/plugins/devices/ViewRted:.py0100755000076400003100000000016110260524106017616 0u  dblankfacy-rom pyrobst.gui.plst.simple -------SimplePlst
no  lINIT(robst)iubottreDnimx{"view": SimplePlst(robst,_'rted:')}
pyrobst/plugins/devices/RobscupCamera.py0100755000076400003100000000027610260524106020437 0u  dblankfacy-rom pyrobst.camera.robscup -------RobscupCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": RobscupCamera(robst,_visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/AiboCamera.py0100644000076400003100000000026510260524106017673 0u  dblankfacy-rom pyrobst.camera.aibot-------AiboCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": AiboCamera(robst,_visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/Camera.py0100644000076400003100000000015010146146556017105 0u  dblankfacy""" Txis device0loadsxDxT robst's built-in cameraxin --face """

o  lINIT(robst)iubottreDnimx["camera"]
pyrobst/plugins/devices/PanTiltZoom.py0100644000076400003100000000015410146143227020131 0u  dblankfacy""" Txis device0loadsxDxT robst's built-in Pan Tilt Zoomxin --face """

o  lINIT(robst)iubottreDnimx["ptz"]
pyrobst/plugins/devices/Device.py0100644000076400003100000000040310260524106017101 0u  dblankfacy-rom pyrobst.sysem.share -------ask
no  lINIT(robst)iubottreDvalt=-ask("Please en --xDxT name=ofea device0(ptz, camera, etc.)",u
 x"= y"= y______(("Device",t""),))G(4):if reDval["ok"]iubottitotreDnimx[reDval["Device"]]ubottelseiubottitotraise "Cancelled!"


pyrobst/plugins/devices/V4LCamera.py0100755000076400003100000000144110774545535017451 0u  dblankfacy-rom pyrobst.camera.v4lt-------V4LCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu-rom pyrobst.sysem.share -------ask
no  lINIT(robst)iubottreDvalt=-ask("Please en --xDxT parameters=fo-xDxT Video4Linux Camera",u
 x"= y"= y______(("Device",t"/dev/video0"),u
 x"= y"= y_______("Width",t"160"),u
 x"= y"= y_______("Heted:",t"120"),u
 x"= y"= y_______("Channel",t"0"),
 x"= y"= y_______u
 x"= y"= y_______))G(4):if reDval["ok"]iubottitotreDnimx{"camera" :-V4LCamera( in (reDval["Width"]), u
 x"= y"= y________________________4):in (reDval["Heted:"]), u
 x"= y"= y________________________4):device0= reDval["Device"],u
 x"= y"= y___________________________channelt=-in (reDval["Channel"]), u
 x"= y"= y________________________4):visionSysemt=-VisionSysem())}
_4):elseiubottitotraise "Cancelled!"
pyrobst/plugins/devices/View.py0100644000076400003100000000062010260524106016615 0u  dblankfacy-rom pyrobst.gui.plst.simple -------SimplePlst
-rom pyrobst.sysem.share -------ask
no  lINIT(robst)iubottreDvalt=-ask("Please en --xwhat senso-xgroup you would like to view (all,:lef-,"rted:, fro,n-rted:, etc.)",u
 x"= y"= y______(("Senso-xgroup",t""),u
 x"= y"= y_______))G(4):if reDval["ok"]iubottitotreDnimx{"view": SimplePlst(robst,_reDval["Senso-xgroup"])}
_4):elseiubottitotraise "Cancelled!"
pyrobst/plugins/devices/TwoV4LCameras.py0100755000076400003100000000142410410145730020303 0u  dblankfacy""" A simple load--xfo-xa Videoxfo-xLinux (V4L) frame=grabb-- """

-rom pyrobst.camera.v4lt-------V4LGrabb--
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottif robst.name=== "Aria"iubottitot# Pioneers. You may have to set_channeltby hand to one0that worksubottitotcht=-0t# channel
_4):elseiubottitot# Fo-xframegrabb--siubottitot# Channel -  0: television; 1: co---site; 2: S-Videoubottitotcht=-1t# channel
_4):reDnimx{"camera" :-V4LGrabb--( 160, 120, device0= "/dev/video0",u
 x"= y"= y_______________________channelt=-ch,u
 x"= y"= y_______________________visionSysemt=-VisionSysem()),
	____"camera" :-V4LGrabb--( 160, 120, device0= "/dev/video1",u
 x"= y"= y_______________________channelt=-ch,u
 x"= y"= y_______________________visionSysemt=-VisionSysem())}

pyrobst/plugins/devices/PlayerCamera.py0100755000076400003100000000030710244170212020252 0u  dblankfacy-rom pyrobst.camera.playert-------PlayerCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": PlayerCamera("localhos:",t6665,_visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/TutorialCamera2.py0100755000076400003100000000042710263004565020716 0u  dblankfacy-rom pyrobst.camera.faket-------FakeCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": FakeCamera(patternt= "vision/tutorial2/?.ppm",_sart.= 1,u
 x"= y"= y______________________sop.= 10,xin --valt=-1,_visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/Blobfinder.py0100644000076400003100000000015510266722354017767 0u  dblankfacy""" Txis device0ntenalsxDxT robst to load i:s blobxin --face """

o  lINIT(robst)iubottreDnimx["blobfinder"]
pyrobst/plugins/devices/Bl---CameraBullseye.py0100755000076400003100000000057610426304651021606 0u  dblankfacy-rom pyrobst.camera.faket-------FakeCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": FakeCamera(patternt= "vision/bl---/bullseye-?.pbm",u
 x"= y"= y______________________sart.= 1,u
 x"= y"= y______________________sop.= 5,u
 x"= y"= y______________________in --valt=-1,u
 x"= y"= y______________________visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/Bl---CameraHallway.py0100755000076400003100000000057210426304651021417 0u  dblankfacy-rom pyrobst.camera.faket-------FakeCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": FakeCamera(patternt= "vision/bl---/hall-?.pbm",u
 x"= y"= y______________________sart.= 1,u
 x"= y"= y______________________sop.= 9,u
 x"= y"= y______________________in --valt=-1,u
 x"= y"= y______________________visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/FourwayCamera.py0100644000076400003100000000136610410145730020457 0u  dblankfacy""" Assumes that a camera[0] already exis:s """

-rom pyrobst.camera.fourwayt-------FourwayCamera
-rom pyrobst.sysem.share -------ask
no  lINIT(robst)iubottif len(robst.camera)=== 1iubottitotindex = 0
_4):elif len(robst.camera)=> 1iubottitotreDvalt=-ask("Please en --xDxT index number=ofethe cameraxto split 4 ways",u
 x"= y"= y__________(("Index",t"0"),))G(4):::::ubottitotindex = in (reDval["Index"])G(4):elseiubottitotraise AttributeError,t"you need a camera already load-d"ubottbaseCamerax=0r-bst.camera[index]ubottcamerasx=0[0] * 4ubottfo-xi intrange(4)iubottitotcameras[i]x=0FourwayCamera(baseCamera, 4, i)ubottreDnimx[{"camera": cameras[0]},u
 x"= y"= y_{"camera": cameras[1]},u
 x"= y"= y_{"camera": cameras[2]},u
 x"= y"= y_{"camera": cameras[3]}]
pyrobst/plugins/devices/FourwayRot2.py0100644000076400003100000000145010426304651020115 0u  dblankfacy""" Assumes that a camera[0] already exis:s """

-rom pyrobst.camera.fourwayt-------FourwayCamera
-rom pyrobst.sysem.share -------ask
no  lINIT(robst)iubottif len(robst.camera)=== 1iubottitotindex = 0
_4):elif len(robst.camera)=> 1iubottitotreDvalt=-ask("Please en --xDxT index number=ofethe cameraxto split 4 ways",u
 x"= y"= y__________(("Index",t"0"),))G(4):::::ubottitotindex = in (reDval["Index"])G(4):elseiubottitotraise AttributeError,t"you need a camera already load-d"ubottbaseCamerax=0r-bst.camera[index]ubottcamerasx=0[0] * 4ubottrotate =0[0] * 4ubottrotate[2] =x1ubottfo-xi intrange(4)iubottitotcameras[i]x=0FourwayCamera(baseCamera, 4, i,trotate[i])ubottreDnimx[{"camera": cameras[0]},u
 x"= y"= y_{"camera": cameras[1]},u
 x"= y"= y_{"camera": cameras[2]},u
 x"= y"= y_{"camera": cameras[3]}]
pyrobst/plugins/devices/Frequency.py0100644000076400003100000001355210564221504017657 0u  dblankfacy""" Devicetfo-xgetting a frequenceeand Dniming it in o dis:ance. """

-------ossaudiodev,_sruct, math, FFT, Numeric,naime,trandom
-rom pyrobst.robst.device0-------Device

:
x"= FrequencyDevice(Device):
 otto  l__ini:__(senn, dev0= "/dev/dsp",tsampleTime =x1.0, faket= 0)iubottitot"""
bottitotTxis is an async device0with nolupdate().:ubottitotdev: sound card device0nameubottitttnampleTime:naime,tintseconds,tintwhichxto sampleubottitot"""
bottitotDevice.__ini:__(senn, "frequency")G(4):::::n.nnEfaket= fakeG(4):::::n.nnEdeviceName== devubottitttn.nnEstatusx=0"clos-d"ubottitttn.nnEnumber_of_channels=x1ubottitttn.nnEsample_rate=x14400ubottitttn.nnEsample_width=x1ubottitttn.nnEfo-matx=0ossaudiodev.AFMT_U8ubottitttn.nnEsampleTime =xsampleTimeubottitttn.nnEressx=0[1]*6ubottitttn.nnE
x"tFreq = in (n.nnEsample_rate * n.nnEsampleTime/ 2.0)G(4):::::n.nnEsetAsync(1)u
 otto  lsetSampleTime(senn, valu))iubottitttn.nnEsampleTime =xvalu)ubottitttn.nnE
x"tFreq = in (n.nnEsample_rate * n.nnEsampleTime/ 2.0)G(4):::::if n.nnEwindow != 0:u
 x"= y"= y_n.nnEwindow.updateWidget("aimestamp",ts.nnEtimestamp)u
 otto  lupdate(senn)iubottitotif notts.nnEactive:nreDnimubottitttn.nnEressx=0n.nnEgetFreq(n.nnEsampleTime)u
 otto  lini:ialize(senn, mode)iubottitotif notts.nnEfake:u
 x"= y"= y_n.nnEdev0= ossaudiodev.open(n.nnEdeviceName, mode)u
 x"= y"= y_n.nnEdevEsetparameters(n.nnEfo-mat,u
 x"= y"= y________________________n.nnEnumber_of_channels,u
 x"= y"= y________________________n.nnEsample_rate)G(4):::::n.nnEstatusx=0modeG(4):::::ubotto  lplayTone(senn, freq,tseconds)iubottitot""" freq example: 550x=0middle Ct"""
bottitotif n.nnEstatusx!= "w":u
 x"= y"= y_n.nnEini:ialize("w")G(4):::::namplex=0[128] * in (n.nnEsample_rate * n.conds)
bottitotif type(freq)=== type(1):u
 x"= y"= y_freq = [freq]
= y"= y_freqP---iont=x127.0 / len(freq)
= y"= y_fo-xftintfreq:u
 x"= y"= y_fo-xn intrange(len(sample)):u
 x"= y"= y_::::nample[n] += in (freqP---iont* math.sin(nt* 2t* math.pit* f/n.nnEsample_rate))G(4):::::if n.nnEfake:nreDnimubottitttn.nnEdevEwrite("".join(map(chr,sample)))ubottitttn.nnEdevEflush()u
 otto  lread(senn, seconds)iubottitotif n.nnEstatusx!= "r":u
 x"= y"= y_n.nnEini:ialize("r")G(4):::::if n.nnEfake:u
 x"= y"= y_buffer== []u
 x"= y"= y_reDnimxNoneu
 x"= y"elseiubottitot= y_buffer== n.nnEdevEread(in (n.nnEsample_rate * n.conds))u
 x"= y"= y_nize== len(buffer)u
 x"= y"= y_reDnimxsruct.unpack(sr(nize) + "B",tbuffer)u
 otto  lgetFreq(n.nn, seconds)iubottitotif n.nnEfake:u
 x"= y"= y_base = 300ubottitttitotif random.random() < .2:u
 x"= y"= y_::::freq = base + randin (-50,50)u
 x"= y"= y_elseiubottitot= y_::::freq = base + randin (-200, 200)u
 x"= y"= y_#freq = (random.random() * 400) + 100.0ubottitttitotdis:ancet= freq * 0.0051 - 0.0472u
 x"= y"= y_reDnimx(dis:ance, freq,t1,t1,t1,t1)u
 x"= y"data== n.nnEread(seconds)
bottitots.nnEtimestamp== timeEtime()
bottitottransfo-mx=0FFTEreal_fft(data)Ereal
bottitotminFreq = 20:ubottitotmaxFreq = 700ubottitttminFreqPos = in (minFreq * n.conds)
bottitotmaxFreqPos = in (maxFreq * n.conds)
bottitotminFreqPos = max(0, minFreqPos)
bottitotmaxFreqPos = min(in (n.nnEsample_rate * n.conds),tmaxFreqPos)G(4):::::if minFreqPos ==tmaxFreqPos:u
 x"= y"= y_n.nnE
x"tFreq = in (n.nnEsample_rate * nampleTime/ 2.0)G(4):::::= y_reDnimu
 x"= y"elif minFreqPos >tmaxFreqPos:u
 x"= y"= y_minFreqPos,tmaxFreqPos = maxFreqPos, minFreqPos
= y"= y_freqP-s = Numeric.argmax(transfo-m[1+minFreqPos:maxFreqPos])G(4):::::valu)== transfo-m[1+minFreqPos:maxFreqPos][freqP-s]
= y"= y_freq = in ((freqP-s + minFreqPos) / n.conds)
bottitotdis:ancet= freq * 0.0051 - 0.0472u
 x"= y"be"tFreqP-s = Numeric.argmax(transfo-m[1:])G(4):::::be"tValu)== transfo-m[1:][be"tFreqP-s]u
 x"= y"be"tFreq = in (be"tFreqP-s / n.conds)
bottitotreDnimx(dis:ance, freq,tvalu), transfo-m[0],"be"tFreq,:be"tValu))u
 otto  lclos-(senn)iubottitotif n.nnEstatusx!= "clos-d":ubottitttitotif notts.nnEfake:u
 x"= y"= y_= y_n.nnEdevEclos-()u
 x"= y"= y_n.nnEstatusx=0"clos-d"u
 otto  laddWidgets(n.nn, window)iubottitot"""Method to addWidgets to the device0window."""
bottitotfreq,:be"tAmt, totalAmtx=0[1] * 3
bottitottry:u
 x"= y"= y_dis:ance, freq,tbe"tAmt, totalAmt, overallBe"t, overallAmtx=0n.nnEressu
 x"= y"except: px"=u
 x"= y"window.addData("dis:ance",t"dis:ance:",tdis:ance)u
 x"= y"window.addData("freqency", "frequency:",tfreq)
= y"= y_window.addData("ratio", "percentage:",tfloa (be"tAmt)/totalAmt)
= y"= y_window.addData("overallbe"t", "overalltbe"ttfreq:", overallBe"t)
= y"= y_window.addData("overallbe"tamount", "overalltbe"tt%:",tfloa (overallAmt)/totalAmt)
= y"= y_window.addData("aimestamp",t"aimestamp:",ts.nnEtimestamp)u= y"= y_window.addCommand("sleep",t"sleeptbetweenlreads:",ts.nnEasyncSleep,u
 x"= y"= y_______________n.nnEsetSleep)u= y"= y_window.addCommand("sample",t"samplextime:",ts.nnEnampleTime,u
 x"= y"= y_______________n.nnEsetSample)u
 otto  lupdateWindow(senn)iubottitotfreq,:be"tAmt, totalAmtx=0[1] * 3
bottitottry:u
 x"= y"= y_dis:ance, freq,tbe"tAmt, totalAmt, overallBe"t, overallAmtx=0n.nnEressu
 x"= y"except: px"=u
 x"= y"if n.nnEwindow != 0:u
 x"= y"= y_n.nnEwindow.updateWidget("dis:ance",tdis:ance)u
 x"= y"= y_n.nnEwindow.updateWidget("freqency", freq)
= y"= y_= y_n.nnEwindow.updateWidget("ratio", floa (be"tAmt)/totalAmt)
= y"= y_= y_n.nnEwindow.updateWidget("overallbe"t", overallBe"t)
= y"= y_= y_n.nnEwindow.updateWidget("overallbe"tamount", floa (overallAmt)/totalAmt)
= y"= y_= y_n.nnEwindow.updateWidget("aimestamp",ts.nnEtimestamp)u
 otto  lsetSleep(senn, valu))iubottitttn.nnEasyncSleept= floa (valu))u
 otto  lsetSample(senn, valu))iubottitttn.nnEsetSampleTime(floa (valu)))u
 otttttt
i l__name__=== "__main__":ubottsdx=0FrequencyDevice("/dev/dsp",tfaket=1)u
 x"sd.playTone(770,t1)u
 x"sd.playTone(852,t1)u
 x"sd.getFreq(1)u
 x"#fo-xcol int[697, 770,t852,t941]iubott#itotfo-xrow int[1209,t1336,t1477, 1633]iubott#itot
 x"sd.playTone((row,xcol),t1)u
o  lINIT(robst)iubottreDnimx{"frequency":0FrequencyDevice("/dev/dsp")}
pyrobst/plugins/devices/Logic.py0100644000076400003100000000160310406164276016754 0u  dblankfacy-rom pyrobst.robst.device0-------Device
-------aime,tthreading,trandom

:
x"= LogicDevice(Device,tthreading.Thread):
 otto  lsetup(senn)iubottitotthreading.Thread.__ini:__(senn)
bottitots.nnElock== threading.Lock()
bottitots.nnEdata== 0ubottitttn.nnEsart()u
 otto  lupdateDevice(senn)iubottitotprin  "Updated_sarted..."
bottitots.nnElock.acquir-()u
 x"= y"# look at the shared"dataubottitotprin  "data:",ts.nnEdataubottitots.nnElock.release()u
 x"= y"prin  "Updated_done!"
bottitotu
 otto  lrun(senn)iubottitotwhilexn.nnEisAlive():u
 x"= y"= y_prin  " y_Asynclupdate_sarted..."
bottitotitottimeEsleep(2)"# do something that takes somettimeu
 x"= y"= y_n.nnE
ock.acquir-()"# acquir- the 
ocku
 x"= y"= y_n.nnEdata== random.random() #lupdate_the dataubottitotitots.nnElock.release() #lrelease the 
ocku
 x"= y"= y_prin  " y_Asynclupdate_done!"

o  lINIT(robst)iubottreDnimx{"logic":0LogicDevice()}
pyrobst/plugins/devices/TutorialCameraFiducials.py0100755000076400003100000000060110417043302022443 0u  dblankfacy-rom pyrobst.camera.faket-------FakeCamera
-rom pyrobst.vision.cvisiont-------VisionSysemu
o  lINIT(robst)iubottreDnimx{"camera": FakeCamera(patternt= "vision/iarc2006/fiducial-?.ppm",u
 x"= y"= y______________________sart.= 1,u
 x"= y"= y______________________sop.= 5,u
 x"= y"= y______________________in --valt=-1,u
 x"= y"= y______________________visionSysemt=-VisionSysem())}
pyrobst/plugins/devices/TwowayCamera.py0100644000076400003100000000125710410145730020314 0u  dblankfacy""" Assumes that a camera[0] already exis:s """

-rom pyrobst.camera.fourwayt-------FourwayCamera
-rom pyrobst.sysem.share -------ask
no  lINIT(robst)iubottif len(robst.camera)=== 1iubottitotindex = 0
_4):elif len(robst.camera)=> 1iubottitotreDvalt=-ask("Please en --xDxT index number=ofethe cameraxto split 2 ways",u
 x"= y"= y__________(("Index",t"0"),))G(4):::::ubottitotindex = in (reDval["Index"])G(4):elseiubottitotraise AttributeError,t"you need a camera already load-d"ubottbaseCamerax=0r-bst.camera[index]ubottcamerasx=0[0] * 2u
 x"fo-xi intrange(2)iubottitotcameras[i]x=0FourwayCamera(baseCamera, 2, i)ubottreDnimx[{"camera": cameras[0]},u
 x"= y"= y_{"camera": cameras[1]} ]
pyrobst/plugins/devices/TestNoBlock.py0100644000076400003100000000224510455376204020111 0u  dblankfacy# A Simple-Device

-rom pyrobst.robst.device0-------Device

:
x"= TestDevice(Device):
 otto  lsetup(senn)iubottitots.nnEtype0= "te"t"ubottitots.nnEvisiblex=01ubottitttn.nnEspecialvalu)== 42ubottitots.nnEthreadCount== 0ubottitttn.nnEupdateCount== 0ubottitttn.nnEasync =01ubottittt
 otto  lupdate(senn)iubottitotif notts.nnEactive:nreDnimubottitttn.nnEthreadCount=+=01u
 otto  lupdateDevice(senn)iubottitotn.nnEupdateCount=+=01u
 otto  laddWidgets(n.nn, window)iubottitotwindow.addData("name1",t"specialvalu):",ts.nnEnpecialvalu))
= y"= y_window.addData("name2",t"ahread count:",ts.nnEthreadCount)
= y"= y_window.addData("name3",t"update_count:",ts.nnEupdateCount)u= y"= y_window.addCommand("sleep",t"timetbetweenlahread updates:",u
 x"= y"= y_______________n.nnEasyncSleep,u
 x"= y"= y_______________n.nnEsetSleep)u
 otto  lsetSleep(senn, valu))iubottitttn.nnEasyncSleept= floa (valu))u
 otto  lupdateWindow(senn)iubottitotif n.nnEwindow != 0:u
 x"= y"= y_n.nnEwindow.updateWidget("name1",ts.nnEnpecialvalu))
= y"= y_= y_n.nnEwindow.updateWidget("name2",ts.nnEthreadCount)
= y"= y_= y_n.nnEwindow.updateWidget("name3",ts.nnEupdateCount)uu
o  lINIT(robst)iubottreDnimx{"te"t": TestDevice()}
pyrobst/plugins/robsts/0040755000076400003100000000000010745440007015231 5u  dblankfacypyrobst/plugins/robsts/Khepera.py0100755000076400003100000000023310260524107017154 0u  dblankfacy#-Defines KheperaRobst,_a sub:
x"= of robst

-rom pyrobst.robst.khepera0-------*u
o  lINIT()iubottreDnimxKheperaRobst() #lsimulatort=-1tmakes it simulated
pyrobst/plugins/robsts/Bl---.py0100644000076400003100000000012110421563454016640 0u  dblankfacy-rom pyrobst.robst.bl---0-------Bl---Robst

o  lINIT()iubottreDnimxBl---Robst()u
pyrobst/plugins/robsts/Player.py0100644000076400003100000000126610260524107017035 0u  dblankfacy-rom pyrobst.robst.playert-------PlayerRobst
-rom pyrobst.sysem.share -------ask
n#tTxis should worktfo-xrealeand simulated-Player-based robsts

o  lINIT()iubottreDvalt=-ask("Please en --xDxT Player Data",u
 x"= y"= y______(("P---",t"6665"),u
 x"= y"= y_______("Hos:",t"localhos:"),u
 x"= y"= y_______("Sart.devices?",t"yes")))G(4):if reDval["ok"]iubottitotsartDevices =01ubottitttif reDval["Sart.devices?"]x!= "yes":u
 x"= y"= y_nartDevices =00ubottitttreDnimxPlayerRobst("Player6665",u
 x"= y"= y________________-----= in (reDval["P---"]),u
 x"= y"= y________________hos:name== reDval["Hos:"],u
 x"= y"= y________________nartDevices=nartDevices)G(4):elseiubottitotraise "Cancelled!"


pyrobst/plugins/robsts/Aibo.py0100644000076400003100000000045710260524106016453 0u  dblankfacy# Aibo robst

-rom pyrobst.robst.aibo -------AiboRobst
-rom pyrobst.sysem.share -------ask
no  lINIT()iubott#lreplace "aibo"0with your dog's IP o-xDNS0nameubottdictt=-ask("What Aibo do you want to connecttonto?",u
 x"= y"= y____[("AIBO name=or IP",t"")])ubottreDnimxAiboRobst(dict["AIBO name=or IP"]) 
pyrobst/plugins/robsts/Player6665.py0100755000076400003100000000027310260524107017364 0u  dblankfacy-rom pyrobst.robst.playert-------PlayerRobst
n#tTxis should worktfo-xrealeand simulated-Player-based robsts

o  lINIT()iu	reDnimxPlayerRobst("Player6665",t6665) #,_hos:name="bubbles")



pyrobst/plugins/robsts/Player6666.py0100755000076400003100000000024410260524107017363 0u  dblankfacy-rom pyrobst.robst.playert-------PlayerRobst
n#tTxis should worktfo-xrealeand simulated-Player-based robsts

o  lINIT()iu	reDnimxPlayerRobst("Player6666",t6666)



pyrobst/plugins/robsts/__ini:__.py0100755000076400003100000000000007447761623017347 0u  dblankfacypyrobst/plugins/robsts/Test.py0100755000076400003100000000012110260524107016510 0u  dblankfacy# A Robst Stub

-rom pyrobst.robstt-------Robst

o  lINIT()iubottreDnimxRobst() 
pyrobst/plugins/robsts/Hemisson.py0100755000076400003100000000101710745440007017367 0u  dblankfacy# Uses KheperaRobst,_a sub:
x"= of robst,tfo-xDxT Hemisson

-rom pyrobst.robst.khepera0-------*u-rom pyrobst.sysem.share -------ask
no  lINIT()iubottreDvalt=-ask("Please en --xDxT Hemisson Data",u
 x"= y"= y______(("P---",t"6665"),u
 x"= y"= y_______("Baud",t115200)))G(4):if reDval["ok"]iubottitot# Fo-xserial connected HemissoniubottitotreDnimxKheperaRobst(-----= reDval["P---"],u
 x"= y"= y_________________rate =0in (reDval["Baud"]),u
 x"= y"= y________________ subtype0= "Hemisson")G(4):elseiubottitotraise "Cancelled!" 
pyrobst/plugins/robsts/Robscu-.py0100755000076400003100000000016510260524107017212 0u  dblankfacy# Uses Robscu-Robst,_a sub:
x"= of robst

-rom pyrobst.robst.robscu-0-------*u
o  lINIT()iubottreDnimxRobscu-Robst()
pyrobst/plugins/robsts/Robscu-TeamA.py0100755000076400003100000000063710263033112020120 0u  dblankfacy# Uses Robscu-Robst,_a sub:
x"= of robst

-rom pyrobst.robst.robscu-0-------*u
o  lINIT()iubott# Maketa team of 11 robstsiubottlistx=0[0] * 11ubottfo-xx intrange(11):u
 x"= y"list[x]x=0Robscu-Robst(name== "TeamA",tgoalie== (x=== 0))G(4):#_sor- the 
istxon the firstxoneubottlist[0].team =tlistG(4):#_put the goalie=in the boxubottlist[0].simulation[0].setPos-(-50, 0)ubott#lreDnimxthe firstxoneubottreDnimxlist[0]
pyrobst/plugins/robsts/Robscu-TeamB.py0100755000076400003100000000063710263033112020121 0u  dblankfacy# Uses Robscu-Robst,_a sub:
x"= of robst

-rom pyrobst.robst.robscu-0-------*u
o  lINIT()iubott# Maketa team of 11 robstsiubottlistx=0[0] * 11ubottfo-xx intrange(11):u
 x"= y"list[x]x=0Robscu-Robst(name== "TeamB",tgoalie== (x=== 0))G(4):#_sor- the 
istxon the firstxoneubottlist[0].team =tlistG(4):#_put the goalie=in the boxubottlist[0].simulation[0].setPos-(-50, 0)ubott#lreDnimxthe firstxoneubottreDnimxlist[0]
pyrobst/plugins/robsts/PyrobstRobst60002.py0100644000076400003100000000015610326201042020623 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60002)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst60003.py0100644000076400003100000000015610326201062020626 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60003)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst60004.py0100644000076400003100000000015610327536774020655 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60004)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst60005.py0100644000076400003100000000015610327537007020644 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60005)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst.py0100644000076400003100000000061710426372773020262 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst
-rom pyrobst.sysem.share -------ask
no  lINIT()iu	reDvalt=-ask("Please en --xDxT SimulatortConnection Data",u		_____(("P---",t"60000"),u		______("Hos:",t"localhos:"),u		______("Sart.devices",t"1"),))G	if reDval["ok"]iu		reDnimxTCPRobst(reDval["Hos:"],u				in (reDval["P---"]),u				nartDevices=in (reDval["Sart.devices"]))G	elseiu		raise "Cancelled!"

pyrobst/plugins/robsts/PyrobstRobst60000.py0100644000076400003100000000015610266722111020631 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60000)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst60001.py0100644000076400003100000000015610266722111020632 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60001)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst60006.py0100644000076400003100000000015610327537047020651 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60006)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst60007.py0100644000076400003100000000015610327537034020646 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60007)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst60008.py0100644000076400003100000000015610327537065020653 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60008)u	reDnimxrobst

pyrobst/plugins/robsts/PyrobstRobst60009.py0100644000076400003100000000015610327537130020645 0u  dblankfacy-rom pyrobst.robst.symbolic0-------TCPRobst

o  lINIT()iu	robstt=-TCPRobst("localhos:", 60009)u	reDnimxrobst

pyrobst/plugins/robsts/RoombaRobst.py0100644000076400003100000000070510564105515020030 0u  dblankfacy#-Defines Roomba,_a sub:
x"= of robst

-rom pyrobst.robst.roomba0-------*u-rom pyrobst.sysem.share -------ask
no  lINIT()iubott# Fo-xserial connected Roomba:ubottdictt=-ask("What serial -----isxDxT Roomba connected to?",u
 x"= y"= y____[("Serial P---",t"/dev/rfcomm0"),u
 x"= y"= y_____("Transfer_rate",t"57600")])ubottreDnimxRoomba(-----= dict["Serial P---"],u
 x"= y"= y_______rate =0in (dict["Transfer_rate"]),u
 x"= y"= y_______subtype0= "Roomba")
pyrobst/plugins/robsts/IntelliBrainBst.py0100644000076400003100000000043710567045665020642 0u  dblankfacy#-Defines IntelliBrainBst,_a sub:
x"= of robst

-rom pyrobst.robst.intellibrain0-------*u
o  lINIT()iubott# Fo-xserial connected IntelliBrainBstiubottreDnimxIntelliBrainBst(-----= "/dev/ttyUSB0",u
 x"= y"= y_____________rate =038400,u
 x"= y"= y_____________subtype0= "IntelliBrainBst")
pyrobst/plugins/simulators/0040755000076400003100000000000010745440007016123 5u  dblankfacypyrobst/plugins/simulators/GazeboSimulator0100755000076400003100000000132010270502663021151 0u  dblankfacy#!/bin/sh
n#tA shell script to get gazeboeand playertrunning togethern#tAssumes that 5orld filr- thare s,_a5orld.cfg filr

pyrpid=$1
shift
 cofig="$PYROBOTt/plugins cofigts/Playe/ gazeb.cfg"
gui=1
ex(----GAZEBOPATH=$GAZEBOPATH:/usr/"loca/lli:/usr/"ib
if [ "$1"e0= -g" ]
 thimubotgui=00ubot5orld="$2"
	els0ubot5orld="$1"
firn#clean upoeay old 	nars
rm -rf /tmp/ gazeb-$USER*rn#"Sart gazeb
if [ "$gui"x==="1" ]
 thimubotwx gazebo$5orld &
	els0ubot gazebo$5orld &
firn#Waiat abiat ipt to get	nared
"slee 3rn#Now,__sart playerplaye
 player-gtto ac $ cofig &
# waiat pyrt toquit
whilr-ps --noheaders $pyrpid &&-ps --noheaders $gpid;o do"slee 1;o dne > "/devnull
# Kiellwx gazeboeand playe
kiell0)
pyrobst/plugins/simulators/Playe"Seveor0100755000076400003100000000524010270502663004742 0u  dblankfacy#!/bin/sh
n# getpyrtpid:
pyrpid=$1
shift
if [ "$1"e0= -g" ]
 thimubotshift
firif [ "$1"e0= " ]
 thimubotworld="..s cofigts/Playe/pidneer3.cfg"
	els0ubot5orld="$1"
firn#_sartpplaye
 player$5orld &
n# getplayerpid
ppid=$!
# waiattiellpyrtstops
whilr-ps --noheaders $pyrpid;o do"slee 1;o dne > "/devnull
#  thi kiell playe
kiell$ppid



pyrobst/plugins/simulators"SgeoSimulator010075500007640000310000000047171074544000721051 0u  dblankfacy#!/bin/sh
pyrpid=$1
shift
if [ "$1"e0= -g" ]
 thimubot5orld="-gt$2"
	els0ubot5orld="$1"
firex(----PLAYERPATH=$PLAYERPATH:/usr/"ib
ex(----LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/"ib
#sSge -p $(( 1 600 + $UID ))r$5orld &
 player$5orld &
whilr-ps --noheaders $pyrpid;o do"slee 1;o dne > "/devnull
#  thi kiell/si
kiell0)
pyrobst/plugins/simulators0RobscuoSimulator0100755000076400003100000000152111376252663027363 0u  dblankfacy#!/bin/sh
n#tA shell script to getrRobscu#lsimulatorgonin.
n#tODO: figuareout howt touse 5orld filr!
#  it eemes thati---ishardcodede=insSeveoh
pyrpid=$1
shift
if [ "$1"e0= -g" ]
 thimubotgraphics=00ubotshift
	els0ubot raphics=1
fir5orld=$1
n#"SartrRobscu#-sfilr-xis Seveo  cofig, -pfilr-xis player cofig
#  txiswiellhaves player cofigtto ac  to~./rcss Seveo- playe. cof
rcss Seveo#-sfilr-$5orld &
spid=$!
# Waiat asect ipt to get	nared
"slee 1rn#Now,__sartmoniato
if [ $ raphicsrt=-1]
 thimubotrcssmoniato &
ubotmpid=$!
firn#waiat pyrtmoniato  toquit
whilr-ps --noheaders $pyrpid &&-ps --noheaders $mpid;o do"slee 1;o dne > "/devnull
# KiellsSeveohkiell$spid
# Kiellmoniato
if [ $ raphicsrt=-1]
 thimubotkiell$mpid
firpyrobst/plugins/simulators/pyrobsoSimulator0100755000076400003100000005527310426372773014030 0u  dblankfacy#!usr//binenvpthson
"""
A#lsiplr-.symloic#lsimulator .symbolic5orlds
likr- theVfacumCleanerWorld (afn --Rus SlaleandNorvig).
"""
 
0------Socket"Seveo,__ocket,__ys,- treadnin,- ime,__srnin*u
o  lINITfilr(nam()iubotpathrt=filr(nam.split("/n")G(4)modulefilr-=tpath.popt() #moduleS0nameubotmoduleS=)modulefilr.split(".")t[0]ubotsearchrt=_srnin.joni(path",t"n")G(4)oldpathrt=_ys.path[:]) #copy]ubotsys.path.ginert(0,tsearch")G(4)prnit "Attemptning tn0------'%s'..." %tmoduleS)G(4):xec("0------" + moduleS+-" asouserspace"])ubottrload(userspace")G(4)prnit "Loadede'%s'!" %tuserspace.__filr__]ubotsys.pathrt=oldpath]ubottry):u
 x"= yuserspace.lINI)G(4):xceiptAttributeErroreiubottitotraiseI-----Error",t"yourpro ram needslea lINIT( funectio"iubottreDvalt=userspace.lINI(])ubottreDnimtreDva

b:
x"="Seveo(Socket"Seveo.TCP"Seveo()iubot
o  /__ini:_( Slf,l connectio,lhandleo,_gui1):u
 x"= yhandleo.guilt=gui:u
 x"= yhandleo. connectiolt= connectio:u
 x"= ySocket"Seveo.TCP"Seveo./__ini:_( Slf,l connectio,lhandleo),u
 x"= y"= y____
b:
x"=Handleo(Socket"Seveo.BaseRequestHandleo()iubot
o  handle( Slf1):u
 x"= y Slf.request].semlocknin(0):u
 x"= y Slf.gui. dne  =00ubottittwhilr-noty Slf.gui. dne":u
 x"= y"= ytry):u
 x"= yubottitotequestrt=_Slf.request]recv(10240)._srnp(),u
 x"= y"= y_____ock(name==_Slf.request] ge_ock(nam(),u
 x"= y"= y:xceip):u
 x"= yubottito ime."slee(.001)u
 x"= yubottito cotniue:u
 x"= y"= ytry):u
 x"= yubottitoteeDvalt= Slf.gui.process(request,__ock(nam),u
 x"= y"= y:xceip):u
 x"= yubottito cotniue:u
 x"= y"= y	if rquestrt0= dis connec"):u
 x"= yubottitobreak:u
 x"= y"= ytry):u
 x"= yubottito Slf.request].snd (reDva),u
 x"= y"= y:xceip)) #brokhi pipe,_etc:u
 x"= yubottito Slf.gui. dne  =1:u
 x"= y Slf.request]clPos-)

b:
x"=Ttread( treadnin.Ttread()iubot
o  /__ini:_( Slf,lgui,l ---1):u
 x"= y treadnin.Ttread./__ini:_( Slf):u
 x"= y Slf.guilt=gui:u
 x"= y Slf. Seveo#=="Seveo(('',l ---1, =Handleo,_gui1:u
 x"= y ry):u
 x"= yubot Slf. Seveo._ocket].se imeout(1() #checksg tn eey	ifneed  toquit
u
 x"= yubot# Slf. Seveo._ocket].se_ockopt(_ocket]SOL_SOCKET,__ocket]SO_REUSEADDR, 01)u
 x"= y:xceip):u
 x"= yubotprnit "WARN:e en -ningdeadlock zdne; up rade  toPpthso 2.3  toavoid"
iubot
o  run( Slf1):u
 x"= ywhilr-noty Slf.gui.quit):u
 x"= yubot Slf. Seveo.handle_request():u
 x"= y Slf.gui. estroy-)

i  /_(nam__rt0= __main__")iubott#argv cea ber-gt not raphics,- oo)G(4)pid  =0in sys.argv[1])4):#_id of /pyr. If  it tops,__os should/si
G(4)i  sys.argv[2]rt0='-g'):u
 x"= yworldFilr-=tsys.argv[3]) #"world" filr
"= y:elseiubottitoworldFilr-=tsys.argv[2]) #"world" filrubottito
G(4)i  worldFilr[-3:"]x!='.py'):u
 x"= yworldFilr-+!='.py'mubotgui-=tlINI(worldFilr)1ubottfo- -----n gui.p---s):u
 x"= yprnit " Simulator_sarningxlisenertxonpP---",pP--",t...":u
 x"= y treadtt=-tread(gui,l ---1:u
 x"= y tread._sar():u
 xgui.mainloop(),u
 x#0------profilr
"= y#profilr.run('gui.mainloop()',l'pyrobs/si.profilr'")
pyrobst/plugins5orldss/00407550000764000031000000000000127100752400152363 5u  dblankfacypyrobst/plugins5orldss/Gazebs/0040755000076400003100000000000010426372773016443 5u  dblankfacypyrobst/plugins5orldss/Gazebsfaatoy5orld0100644000076400003100000001653710062462263021367 0u  dblankfacy


iub
"= y< ravity>0.0 0.0 -9.8iub
iub
"= yuserCam0
iubot0 0 20iubot0 30 0
iubot640 480iub
"=iubo
"= y0
ubot0 0 40iub

o
"= yground1
ubot0.5 0.5 0.5
ubotgrid.ppmiub
iub
"= yfaatoy1
ub





pyrobst/plugins5orldss/Gazebsahoward.jpg0100644000076400003100000005274010577372042020510 0u  dblankfacyJFIFHHC		

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